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State observer control for robotic series elastic actuators
REVISTA COLOMBIANA DE TECNOLOGIAS DE AVANZADA (RCTA)This implementation shows the results through a control state observer strategy for a series elastic actuator (SEA) of motorized robotic limbs, with the purpose of evaluate the disturbance response with regard to convetional PID controller. By implementing a Matlab® script, the goal was to evaluate the state observer controller for a series elastic ...
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Human-Adaptive Force Control of Series Elastic Actuators
, 2014 Force controlled series elastic actuators (SEAs) arewide used components of novel physical human-robot interaction(pHRI) applications such as assistive and rehabilitation robotics.These systems are characterized by the presence of the “humanin the loop” so that control response and stability depend onuncertain human dynamics.
CALANCA, Andrea, FIORINI, Paolo
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Mechanical Design Procedures for Series Elastic Actuators
Pamukkale University Journal of Engineering Sciences, 2019 Mehmet Can Yıldırım +2 more
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Series Elastic Actuator: Design, Analysis and Comparison
, 2016 Junior, Arnaldo Gomes Leal +1 more
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An MRI-powered and controlled actuator technology for tetherless robotic interventions
, 2013 Barth HV +4 more
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Hopping frequency influences elastic energy reuse with joint series elastic actuators
Journal of Biomechanics, 2021Robotic limb design struggles to combine energy efficiency with human-like levels of movement versatility. High efficiency and a range of angles and torques are characteristics of human hopping at different frequencies. Humans use muscles in combination with tendons to achieve the required joint actuation.
A, Mohammadi Nejad Rashty +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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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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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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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.
D. Paluska, H. Herr
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