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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.
Andrea Calanca +2 more
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Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements [PDF]
Journal of NeuroEngineering and Rehabilitation, 2019 Background Currently, control of exoskeletons in rehabilitation focuses on imposing desired trajectories to promote relearning of motions. Furthermore, assistance is often provided by imposing these desired trajectories using impedance controllers ...
Jonas Vantilt +10 more
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Design,Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots
Actuators, 2020 This paper describes data-driven modelling methods and their use for the control of a novelset of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill theend-user needs for tailored industrial collaborative robot ...
Jose De Gea Fernandez +4 more
doaj +3 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 ...
Michele Xiloyannis +2 more
exaly +5 more sources
Journal of Marine Science and Engineering, 2023 Marine-vehicle manipulators, which represent a kind of mechanical systems installed on marine surface or underwater vehicles, are mostly suffering from the problem of waves (or ocean currents)-caused base oscillations. The oscillations have a significant
Yufei Guo +5 more
doaj +3 more sources
Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: A Convex Optimization Framework for Elastic Element Design [PDF]
IEEE/ASME Transactions on Mechatronics, 2019 Edgar Bolivar +2 more
exaly +2 more sources
A Robust Impedance Controller Design for Series Elastic Actuators using the Singular Perturbation Theory [PDF]
IEEE/ASME Transactions on Mechatronics, 2020 Dongwon Kim, Li-Qun Zhang, Gun Rae Cho
exaly +2 more sources
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 ...
Gill A. Pratt, Matthew M. Williamson
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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
doaj +1 more source
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
openaire +3 more sources