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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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IEEE Access, 2020 The use of powered ankle-foot prostheses for below-knee amputees leads to challenges like the peak power of the applied actuator and biomechanical features of the prosthesis foot.
Dianbiao Dong +5 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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Robust Force Control of Series Elastic Actuators [PDF]
Actuators, 2014 Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces.
CALANCA, Andrea +2 more
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IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022 To overcome the different requirements of torque-velocity characteristics for walking, running, stand-to-sit, sit-to-stand, and climbing stairs, we propose a novel concept for actuator design, namely, a series elastic actuator with two-motor variable ...
Ting Zhang +3 more
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Design and Experiment of an Anthropomorphic Robot Hand for Variable Grasping Stiffness
IEEE Access, 2021 This paper introduces an anthropomorphic robot hand that has variable grasping stiffness to unknown objects without damage. The robot hand has four fingers, 13 DoFs (Degrees of Freedom) with three SEA (Series Elastic Actuator) modules in the index ...
Hyeonjun Park +3 more
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Design and Control of Cylindrical Linear Series Elastic Actuator [PDF]
한국정밀공학회지, 2019 Recently, there are numerous studies on robots to function with smoother movement and high efficiency. It is difficult to develop robots with smooth movement and high efficiency. To solve this problem, the Series Elastic Actuator (SEA) is used.
KwangJin Lee, SangRyong Lee, Hak Yi
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IEEE Access, 2020 A series elastic actuator (SEA) includes an elastic spring in series with an actuator. SEAs provide more accurate force and impedance control than conventional rigid actuators.
Kuei-You Lin +2 more
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The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot
Robotics, 2022 The term perception-driven obstacle-aided locomotion (POAL) was proposed to describe locomotion in which a snake robot leverages a sensory-perceptual system to exploit the surrounding operational environment and to identify walls, obstacles, or other ...
Askan Duivon +5 more
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Bi-directional series-parallel elastic actuator and overlap of the actuation layers [PDF]
Bioinspiration & Biomimetics, 2016 Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs).
Raphaël Furnémont +4 more
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