Results 21 to 30 of about 4,624 (156)
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
doaj +1 more source
Energy-based Safety in Series Elastic Actuation
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an ...
Wesley Roozing +2 more
openaire +2 more sources
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
doaj +1 more source
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
openaire +3 more sources
Design optimization of powered ankle prosthesis to reduce peak power requirement
Science Progress, 2022 The aim of the prosthetic devices is to replicate the able-bodied angle-torque profile of a healthy human during locomotion. A lightweight and energy-efficient ankle joint is able to lower the actuator peak power and/or energy consumption per gait cycle,
Muhammad Bilal +4 more
doaj +1 more source
The Energy Amplification Characteristic Research of a Multimodal Actuator
International Journal of Advanced Robotic Systems, 2016 A multimodal actuator is proposed to fulfil the different walking patterns of a power-assisted knee exoskeleton. With this actuator, the exoskeleton leg can realize several modes of operation, including series elastic actuation, stiff position control ...
Han Yali +4 more
doaj +1 more source
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 ...
Gabriele Nava +2 more
openaire +2 more sources
Multistable series elastic actuators: Design and control [PDF]
Robotics and Autonomous Systems, 2019 Abstract In this paper we propose a novel actuation concept, consisting of a conventional DC motor in series with a compliant element having multiple configurations of equilibrium. The proposed device works similarly to a traditional series elastic actuator, where the elasticity increases safety and force control accuracy, but presents the ...
Leonardo Cappello +5 more
openaire +4 more sources
A Back-Drivable Rotational Force Actuator for Adaptive Grasping
Actuators, 2023 In this paper, a back-drivable and miniature rotary series elastic actuator (RSEA) is proposed for robotic adaptive grasping. A compact arc grooves design has been proposed to effectively reduce the dimension of the RSEA system.
Xiaofeng Wu +4 more
doaj +1 more source
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
openaire +4 more sources