Bi-directional series-parallel elastic actuator and overlap of the actuation layers

  title={Bi-directional series-parallel elastic actuator and overlap of the actuation layers},
  author={Raphael Furnemont and Glenn Mathijssen and Tom Verstraten and Dirk Lefeber and Bram Vanderborght},
  journal={Bioinspiration \& Biomimetics},
Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs). SEAs can reduce the peak power while PEAs can reduce the torque requirement on the motor. Nonetheless, these actuators still cannot meet performances close to… 

Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot

Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient

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Mini Review: Open Access Characteristic Properties and Performance of Artificial Muscles

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Variable Recruitment of Parallel Elastic Elements: Series–Parallel Elastic Actuators (SPEA) With Dephased Mutilated Gears

The development and control of variable stiffness actuators (VSAs) led to the capability of embodying physical principles of safety and energy-efficiency compared to traditional stiff servomotors.

Concept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis

The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end. A 75 kg human,

Series elastic actuators

  • G. PrattM. Williamson
  • Engineering
    Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
  • 1995
It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.

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This paper reports on the innovative design of an intermittent self-closing mechanism for a MACCEPA-based SPEA that can deliver bi-directional output torque and variable stiffness, while minimizing friction levels.

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Parallel passive-elastic elements can reduce the energy consumption and torque requirements for motors in powered legged systems. However, the hardware design for such combined actuators is

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This paper discusses design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor. A design is introduced that pushes the

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The ability to control compliance of robotic joints is desirable because the resulting robotic mechanisms can adapt to varying task requirements and can take advantage of natural limb and joint

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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