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Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot
Sensors, 2022 Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A series–
Tianshuo Wang +5 more
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IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022 To overcome the different requirements of torque-velocity characteristics for walking, running, stand-to-sit, sit-to-stand, and climbing stairs, we propose a novel concept for actuator design, namely, a series elastic actuator with two-motor variable ...
Ting Zhang +3 more
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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
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International Journal of Advanced Robotic Systems, 2013 A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines.
Dino Accoto +5 more
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Trajectory optimization for walking robots with series elastic actuators [PDF]
53rd IEEE Conference on Decision and Control, 2014 Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems.
Alexander Werner +2 more
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Design and control of an MRI compatible series elastic actuator [PDF]
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016 Bidirectional compatibility requirements with Magnetic Resonance Imaging (MRI) have limited the adaptation of rehabilitation robots for use in MRI machines. In this paper, we present the design and control of a Bowden cable-actuated, MRI-compatible series elastic actuator (SEA) that aims to fulfil the bidirectional compatibility requirements to the ...
Yusuf Mert Senturk, Volkan Patoglu
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Optimal Magnetic Spring for Compliant Actuation—Validated Torque Density Benchmark
Actuators, 2019 Magnetic springs are a fatigue-free alternative to mechanical springs that could enable compliant actuation concepts in highly dynamic industrial applications.
Branimir Mrak +3 more
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IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2023 This paper proposes a novel index finger exoskeleton with semi-wrapped fixtures and elastomer-based clutched series elastic actuators. The semi-wrapped fixture is similar to a clip, which improves the convenience of donning/doffing and connection ...
Ning Sun +3 more
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Exploring the Limits of a Redundant Actuation System Through Co-Design
IEEE Access, 2021 This paper assesses the energy efficiency of a redundant actuation architecture combining Quasi-Direct Drive (QDD) motors and Series Elastic Actuators (SEAs) by comparing its energy consumption to Geared Motors (GMs) and SEAs alone.
Gianluigi Grandesso +4 more
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Evaluation and Comparison of SEA Torque Controllers in a Unified Framework
Actuators, 2023 Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans.
Wolfgang Rampeltshammer +4 more
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