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Research on the Design and Control Method of Robotic Flexible Magneto-Rheological Actuator. [PDF]
Sensors (Basel)Shi R, Jian S, Chen G, Yao P.
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On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators
IEEE Robotics and Automation Letters, 2017Series-elastic actuators are quickly becoming the core component of robots operating in real-world environments, allowing for robust, safe, torque-controlled robots. This letter investigates the influence of the selected stiffness and control parameters.
Navvab Kashiri +2 more
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Motion control of series-elastic actuators
2016 American Control Conference (ACC), 2016Direct, physical interaction between a human and a robot has potential to provide assistance or rehabilitation which can extend the human user's physical capabilities. To be successful, the robot must be able to realize the system-level objectives without compromising the subject's safety.
Kevin Haninger +2 more
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Force Control of Series Elastic Actuator: Implications for Series Elastic Actuator Design
2015 Fifth International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC), 2015The force controller of series elastic actuator (SEA) is an important issue, because it determines the output performance of SEA (the bandwidth and the resonant peak). However, the existing force controllers of SEA attach little importance to the determinants of the performance.
Li Yang, Feng Huashan
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Series elasticity and actuator power output
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006In this investigation we put forth a simple model to quantify the capacity of series elasticity to increase peak power output from an actuator. Using a linear bandwidth limited force source, we show how series spring stiffness and source stroke length effect power output to an inertial load.
Daniel Paluska, Hugh M. Herr
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Improvements to Series Elastic Actuators
2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, 2006Actuators must be safe when interacting with humans, even in unexpected situations. Safety requires low impedance (low forces for a given perturbation) at all frequencies, not only in the actuator's stable bandwidth. Series Elastic Actuators (SEAs) are capable of achieving low impedance across all frequencies, though their force-frequency saturation ...
Jonathon Sensinger, Richard Ff. Weir
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Series elastic actuator control of a powered exoskeleton
2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy.
Daniel Ragonesi +3 more
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Saturated nonlinear control of robots with series elastic actuators
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2021In this paper, two saturated nonlinear control strategies are proposed for regulation of SEA-driven robots based on singular perturbation (SP) and Energy Shaping (ES). The SP-based saturated controller is designed with two saturated control terms for cascaded two subsystems, and the ES-based saturated controller is proposed by a saturated PD control ...
Jie Cheng +4 more
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Online calibration of a compact series elastic actuator
2014 American Control Conference, 2014We present a method for the online calibration of a compact series elastic actuator installed in a modular snake robot. Calibration is achieved by using the measured motor current of the actuator's highly geared motor and a simple linear model for the spring's estimated torque.
Steven Ford +3 more
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Human-adaptive control of series elastic actuators
Robotica, 2014SUMMARYForce-controlled series elastic actuators (SEAs) are the widely used components of novel physical human–robot interaction 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.
Andrea Calanca, Paolo Fiorini
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