A novel stiffness control method for series elastic actuator

As a result, the robot actuator is demanded to be able to adjust its stiffness. This paper presents a stiffness control scheme for a single DOF ...

A novel stiffness control method for series elastic actuator. Guangmo Linab*, Xingang Zhaoa, Jianda Hana. aState Key Laboratory of Robotics, Shenyang ...

Design and Control of a Novel Variable Stiffness Series Elastic ...

The main drawback of this actuation method is the limited stiffness range which depends on the number of springs employed in the actuator design. Moreover, the ...

Design and Control of a Novel Variable Stiffness Series Elastic ...

Abstract:This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA).

Design and Control of a Novel Variable Stiffness Series Elastic ...

This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical ...

Design, modeling, and control of a Series Elastic Actuator with ...

The recent application of the principle of discrete adjustment of stiffness has substantially enhanced the performance of Clutched Elastic Actuators (CEA), ...

Design and Control of a Novel Variable Stiffness Series Elastic ...

This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a ...

Design of a Novel Variable Stiffness Series Elastic Actuator for ...

In this paper, we designed a Variable Stiffness Linear Series Elastic Actuator (VLSEA) mechanism that can achieve variable stiffness with a ...

A Lightweight Series Elastic Actuator With Variable Stiffness

The results indicate that the LVSA provides a range of stiffness from 0 to 988 Nm/rad with a weight of 0.412 kg, and the controller is accurate ...

A novel variable stiffness scotch yoke series elastic actuator for ...

This paper presents a new design and modeling of a novel variable stiffness scotch yoke series elastic actuator (VSY-SEA) mechanism that can ...

A Novel Series Elastic Actuator with Variable Stiffness

Recent studies proposed various robotic joint actuators with variable stiffness to enhance the physical human-robot interaction. However, these actuators ...

Modeling and Control of a Novel Design of Series Elastic Actuator ...

Different approaches were followed to apply the optimum actuation technique that ensure safe human-robot interaction [4]. Regarding exoskeleton ...

Robust position control of a novel series elastic actuator via ...

However, current SEA designs have a common performance limitation due to the compromise on the selection of spring stiffness. The performance of ...

Stiffness Control of Variable Serial Elastic Actuators - MDPI

Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to ...

A novel design of series elastic actuator using tensile springs array

The unique geometry of the spring array enables SEA's consistent rotary stiffness within the whole working range while having trivial friction and hysteresis.

A Novel Compact Torsional Spring for Series Elastic Actuators for ...

to a traditional stiff motor. Moreover, when the system is stiffness-controlled (i.e. it mimics an elastic behavior) and conservative stability constraints ...

A Lightweight Series Elastic Actuator With Variable Stiffness

4) A torque-stiffness control method without force/torque sensor is proposed for the LVSA, and the performance of the controller is evaluated with a prototype.

Design, Modelling and Control of Novel Series-Elastic Actuators for ...

Nonetheless, one the main focuses of this work is on developing a powerful and flexible data-based approach that models the elasticity of the actuator and that ...

Design and Characterization of a Novel High-Power Series Elastic ...

A number of series elastic actuators have been proposed over the past 20 years in order to accommodate the needs arising from specific applications. This paper ...

Design, modeling, and control of a Series Elastic Actuator ... - OUCI

Design, modeling, and control of a Series Elastic Actuator with Discretely Adjustable Stiffness (SEADAS) · Hamed Toubar · Mohammad I. Awad · Mohamed N. Boushaki ...