相关论文: Evaluation and comparison of SEA torque controller…
Series Elastic Actuation (SEA) has become prevalent in applications involving physical human-robot interaction as it provides considerable advantages over traditional stiff actuators in terms of stability robustness and fidelity of force…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However,…
The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area.…
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper presents a novel actuator design called…
Although the application of Series elastic actuators (SEAs) in the biomechatronic field has proved its appropriation in many aspects so far, the problems of maintaining the stability for the SEAs still remains. This paper proposes a robust…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
Series Elastic Actuation (SEA) is a widely-used approach for interaction control, as it enables high fidelity and robust force control, improving the safety of physical human-robot interaction (pHRI). Safety is an imperative design…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…
To eliminate the static error, overshoot, and vibration of the series elastic actuator (SEA) position control, the resonance ratio control (RRC) algorithm is improved based on L1 adaptive control(L1AC)method. Based on the analysis of the…
In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…