Results 11 to 20 of about 4,673 (260)
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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Hill’s and Huxley’s muscle models - tools for simulations in biomechanics [PDF]
Serbian Journal of Electrical Engineering, 2015 Numerous mathematical models of human skeletal muscles have been developed. However, none of them is adopted as a general one and each of them is suggested for some specific purpose. This topic is essential in humanoid robotics, since we firstly
Jovanović Kosta +2 more
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Pneumatic Variable Series Elastic Actuator [PDF]
Journal of Dynamic Systems, Measurement, and 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
Hao, Zheng, Molei, Wu, Xiangrong, Shen
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Flexure Variable Stiffness Actuators
Advanced Intelligent Systems, 2022 Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of
Frederic H. Giraud +2 more
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Wearable Technologies, 2023 Powered exoskeletons need actuators that are lightweight, compact, and efficient while allowing for accurate torque control. To satisfy these requirements, researchers have proposed using series elastic actuators (SEAs).
Sergei V. Sarkisian +2 more
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Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons
Sensors, 2023 In this work, a generalized low-level controller is presented for sensor collection, motor input, and networking with a high-level controller. In hierarchically controlled exoskeletal systems, which utilize series elastic actuators (SEAs), the hardware ...
Connor W. Herron +5 more
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Mathematics, 2022 Force tracking control for hydraulic series elastic actuators (SEAs) is the demand in robots interacting with the surrounding world. However, the inherent nonlinearities and uncertainties of the hydraulic system, as well as the unknown environment, make ...
Yong Nie +5 more
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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
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Actuators, 2017 Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper,
Philipp Beckerle +2 more
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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
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