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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.
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Advanced Compliant Anti-Gravity Robot System for Lumbar Stabilization Exercise Using Series Elastic Actuator [PDF]
IEEE Journal of Translational Engineering in Health and Medicine, 2022 Background: The lumbar stabilization exercise is one of the most recommended treatments in medical professionals for patients suffering from low back pain.
Joowan Kim +3 more
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Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg [PDF]
Frontiers in Neurorobotics, 2019 The mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model.
Chan Lee, Sehoon Oh
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Momentum control of humanoid robots with series elastic actuators [PDF]
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers. This paper proposes a control framework for extending momentum based controllers developed for stiff ...
Nava, Gabriele +2 more
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State observer control for robotic series elastic actuators
Revista Colombiana de Tecnologías de AvanzadaThis implementation shows the results through a control state observer strategy for a series elastic actuator (SEA) of motorized robotic limbs, with the purpose of evaluate the disturbance response with regard to convetional PID controller.
Frank Nixon Giraldo Ramos
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Design an Artificial Foot using Series Elastic Actuator [PDF]
International Journal of Advanced Design and Manufacturing Technology, 2014 : Investigating the mechanical behaviour of a healthy human ankle shows that it can be simulated by a mechanism composed of simple elements such as spring, and actuator.
Ali Moazemi goudarzi +3 more
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Actuators, 2023 The integration of a passive elastic element in series between a motor and its load is popular in many human–robot interaction scenarios. By virtually imposing elastic behavior on the motor, an impedance control can act as a second stiffness to such an ...
Rodrigo J. Velasco-Guillen +3 more
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Continuously-variable series-elastic actuator [PDF]
2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013 Actuator efficiency is an important factor in the design of powered leg prostheses, orthoses, exoskeletons, and legged robots. A continuously-variable series-elastic actuator (CV-SEA) is presented as an efficient actuator for legged locomotion. The CV-SEA implements a continuously-variable transmission (CVT) between a motor and series elastic element ...
Mooney, Luke M., Herr, Hugh M
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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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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 ...
G.A. Pratt, M.M. Williamson
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