Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot [PDF]
Sensors, 2022 Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A series–
Tianshuo Wang +5 more
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Pneumatic Variable Series Elastic Actuator. [PDF]
J Dyn Syst Meas Control, 2016 Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution
Zheng H, Wu M, Shen X.
europepmc +4 more sources
Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison
Actuators, 2017 The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to ...
Chan Lee +3 more
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Design and Control of a Nonlinear Series Elastic Cable Actuator Based on the Hill Muscle Model
Actuators, 2022 The bionic design of muscles is a research hotspot at present. Many researchers have designed bionic elastic actuators based on the Hill muscle model, and most of them include an active contraction element, passive contraction element and series elastic ...
Yingbing Su +4 more
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Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator
Energies, 2022 Series elastic actuators (SEAs) have become a common actuation method in torque-controlled electric lightweight arm applications that physically interact with the environment in assembly tasks.
Pauli Mustalahti, Jouni Mattila
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Design and Analysis of a Clutched Parallel Elastic Actuator
Actuators, 2019 Various actuator topologies are discussed for the purpose of powering periodic processes and particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce the energy consumption of active exoskeletons. A nonlinear model
Bernhard Penzlin +5 more
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Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg [PDF]
Frontiers in Neurorobotics, 2019 Chan Lee, Sehoon Oh, Oh Sehoon
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OpenSEA: a 3D printed planetary gear series elastic actuator for a compliant elbow joint exoskeleton [PDF]
Frontiers in Robotics and AIJenks B, Levan H, Stefanovic F.
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Impedance matching in an elastic actuator [PDF]
Soft Matter, 2021 We consider energy transfer from an elastic actuator to an elastic load, and show that the energy transfer can be optimized by tuning Young's modulus of the impedance matching host material.
Tianyi Guo +2 more
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Series elastic actuators [PDF]
Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, 2002 It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy ...
Gill A. Pratt, Matthew M. Williamson
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