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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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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
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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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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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 Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot
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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Actuators, 2022 An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation
Hee Don Lee +3 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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International Journal of Advanced Robotic Systems, 2013 A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines.
Dino Accoto +5 more
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Actuators, 2017 Cost is an important consideration when transferring a technology from research to industrial and educational use. In this paper, we introduce the design of an industrial grade series elastic actuator (SEA) performed via re-engineering a research grade ...
Kenan Isik +3 more
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