Results 261 to 270 of about 38,943 (291)
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A Low Cost Series Elastic Actuator Test Bench
2020The concept of compliance relates to a robot’s capability to exert, absorb, and measure forces acting on its joints. The existing research currently available for compliant actuators is promising, but prohibitively expensive, posing a fiscal entry barrier to research.
Oliver Smith, Swen E. Gaudl
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Optimal Design of a Micro Series Elastic Actuator
Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems, 2010We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using μSEA for force control removes the need for high-precision force sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element.
Ozan Tokatli, Volkan Patoglu
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Variable Transmission Series Elastic Actuator for Robotic Prosthesis
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018In this paper, we introduce a novel robotic prosthetic knee as shown in Fig. 1 (named as SuKnee) with variable transmission mechanism that could vary transmission ratio while knee angle varies during ambulation activities. A slider crank mechanism is utilized to transform linear motion of series elastic actuator to rotary motion of knee joint.
Xiaojun Sun +3 more
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Variable stiffness estimation of a Series Elastic Actuator
2016 35th Chinese Control Conference (CCC), 2016This paper focuses on estimating the variable stiffness of the Series Elastic Actuator(SEA) through torque and relative position between the motor and the payload measurements. Although position and torque sensors are effective in control schemes, the exorbitant price are not convenient for the application of robotics. Through the mathematical modeling,
Shuai Dong +5 more
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Bilateral control using two-stage series-elastic actuator
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC), 2016This paper proposes a bilateral control system for master-slave devices using a compliant mechanism that allows an operator to finely handle an object when the stiffness of the object varies from low (soft) to high (hard). The proposed system consists of a two-stage series-elastic actuator (SEA) that has two springs with different stiffness.
Masaru Saito, Jun Ishikawa
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dSEDA: a Differential Series Elastic Damped Actuator
2022 International Conference on Robotics and Automation (ICRA), 2022Monteleone, Simone +3 more
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Enhanced extended state observer-based model-free force control for a Series Elastic Actuator
Mechanical Systems and Signal Processing, 2023Shuaishuai Han, Haoyong Yu, Haoping Wang
exaly