相关论文: Design and Control of a Compact Series Elastic Act…

This paper introduces a new type of nonmagnetic actuator for MRI interventions. Ultrasonic and piezoelectric motors are one the most commonly used actuators in MRI applications. However, most of these actuators are only MRI-safe, which…

Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers,…

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.…

Combining the unmatched soft-tissue imaging capabilities of magnetic resonance imaging (MRI) with high precision robotics has the potential to improve the accuracy, precision, and safety of a wide range of image-guided medical procedures.…

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…

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…

The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…

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…

In assistive robots, compliant actuator is a key component in establishing safe and satisfactory physical human-robot interaction (pHRI). The performance of compliant actuators largely depends on the stiffness of the elastic element.…

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 approach that allows us to effectively optimise the stiffness modulation…

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…

This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…

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…

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…

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…

Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks. A first…

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…

Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…