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Effect of compliance location in series elastic actuators
Robotica, 2013SUMMARYSeries elastic actuators have beneficial properties for some robot applications. Several recent implementations contain alternative placements of the compliant element to improve instrumentation design. We use a class 1 versus class 2 lever model and energy-port methods to demonstrate in this paper that these alternative placements should still ...
Jonathon W. Sensinger +3 more
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A Compact, Modular Series Elastic Actuator
Journal of Mechanisms and Robotics, 2016This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet the requirements of a wide range of applications. The concept incorporates flat brushless motors and planetary gearheads instead of expensive harmonic drives and a flat torsional spring design to create a lightweight, low-
Jonathan P. Cummings +5 more
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The study of multimodal series elastic actuator
2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2016An elastic actuator is proposed for meeting the knee power-assisted exoskeleton effective drive demand under different walking pattern. The actuator can achieve different motion of power-assisted knee exoskeleton through the motor driving the screw nut, series with spring and combing with the corresponding brake pads, and the motion modes are analyzed.
Han Yali +4 more
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Learning the Elasticity of a Series-Elastic Actuator for Accurate Torque Control
2017Series elastic actuators (SEAs) have been frequently used in torque control mode by using the elastic element as torque measuring device. In order to precisely control the torque, an ideal torque source is critical for higher level control strategies. The elastic elements are traditionally metal springs which are normally considered as linear elements ...
Bingbin Yu +3 more
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Configurable Compliance for Series Elastic Actuators
Volume 6B: 37th Mechanisms and Robotics Conference, 2013Variable compliance has been a growing topic of interest in legged robotics due to recent studies showing that animals adjust their leg and joint stiffness to adjust their natural dynamics and to accommodate changes in their environment. However, existing designs add significant weight, size, and complexity. Series Elastic Actuators, on the other hand,
Viktor Orekhov +3 more
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A Simple but Robust Impedance Controller for Series Elastic Actuators
2019 International Conference on Robotics and Automation (ICRA), 2019This study presents an impedance controller for series elastic actuators (SEAs), using the singular perturbation (SP) theory and time-delay estimation (TDE) technique. While the SP theory attenuates the requirement for states to be measured, the TDE technique eliminates the requirement for identifying system parameters. Through a numerical analysis and
Dongwon Kim +3 more
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A nonlinear series elastic actuator for highly dynamic motions
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011A novel revolute nonlinear series elastic actuator called the HypoSEA is presented. The actuator uses a hypocycloid mechanism to stretch a linear spring in a nonlinear way. The actuator is optimized for highly dynamic tasks such as running and jumping, as it features a 120Nm torque capability and more than 30J of passive energy storage.
Ivar Thorson, Darwin G. Caldwell
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A Nonsmooth Dynamic Control Approach for Series Elastic Actuator
IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020A new position regulation control algorithm is designed for the series elastic actuator (SEA) system in the presence of parameter uncertainties. To enhance the position regulation performance by using the homogeneous system theory and a non-recursive synthesis approach, the resulting dynamic stabilizing control scheme can be expressed in a simple non ...
Zhenxing Sun +2 more
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Passivity constraints for the impedance control of series elastic actuators
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2013Robots operating in close contact with humans require actuators capable of accurately and safely modulating the delivered torque. To this aim, rotary series elastic actuators are largely adopted. Torque control is often implemented using a cascade control scheme involving proportional–integral regulators (velocity controller nested in a torque ...
Nevio Luigi Tagliamonte, Dino Accoto
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Non-Overshooting Force Control of Series Elastic Actuators
Solid State Phenomena, 2010Whenever mechanical devices are used to interact with the environment, accurate control of the forces occurring at the interaction surfaces arises as an important challenge. Traditionally, force controlled systems utilize stiff force sensors in the feedback loop to measure and regulate the interaction forces.
Tokatli, O., and Patoglu, V.
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