A Compact Rotary Series Elastic Actuator for Human Assistive Systems

@article{Kong2012ACR,
  title={A Compact Rotary Series Elastic Actuator for Human Assistive Systems},
  author={Kyoungchul Kong and Joonbum Bae and Masayoshi Tomizuka},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2012},
  volume={17},
  pages={288-297}
}
Precise and large torque generation, back drivability, low output impedance, and compactness of hardware are important requirements for human assistive robots. In this paper, a compact rotary series elastic actuator (cRSEA) is designed considering these requirements. To magnify the torque generated by an electric motor in the limited space of the compact device, a worm gear is utilized. However, the actual torque amplification ratio provided by the worm gear is different from the nominal speed… CONTINUE READING

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