In this paper, the rubbertuators are used as actuators to realize Direct Compliant Control (DCC) on a parallel five-bar linkage. The DCC requires the independent control of stiffness on each active joint to indirectly control the stiffness of end-effector on parallel linkage. However, interfering among active joints of mechanism may bring in vibration during the contacting process. Furthermore, the on-off valve driven by PWM for the actuator can bring in frequent fluctuation on joints. In order to inhibit these vibrations, the advantages of intrinsic flexibility of rubbertuator are taken. The capabilities of this method are demonstrated through experiments.
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