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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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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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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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Impedance control of hydraulic series elastic actuation
2020 Chinese Automation Congress (CAC), 2020The hydraulic system can provide a very large driving force and has high stiffness characteristics. System force control with high stiffness characteristics is very challenging. High-rigidity systems tend to oscillate when interacting with the environment and threaten the safety of the environment and the robot.
Shen Kaixin +5 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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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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Model based control of series elastic actuators
2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. The controller is based on a linear model of the actuator, which can be reduced to a PT 2 element if a disturbance compensator is included. This allows for a straightforward design of a state space controller
Markus Grun +2 more
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Series elastic actuation for force controlled micro-manipulation
2011 IEEE International Conference on Mechatronics, 2011We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using μSEA for force control removes the need for high-precision force sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element.
Ozan Tokatli, Volkan Patoglu
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Acceleration Based Force Estimation in Series Elastic Actuator
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018With increasing of the needs to collaborate with humans throughout the industry fields, a series elastic actua-tor(SEA)has been developed which enable more compliance motion rather than conventional motor-based actuator. The device is equipped with spring inside, and it turns increased mechanical elasticity, allowing to react more flexibly to the ...
Dasol Cheon, Sehoon Oh
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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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