Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human–Robot Interaction Applications

@article{Kong2009ControlOR,
  title={Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human–Robot Interaction Applications},
  author={Kyoungchul Kong and Joonbum Bae and Masayoshi Tomizuka},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2009},
  volume={14},
  pages={105-118}
}
To realize ideal force control of robots that interact with a human, a very precise actuating system with zero impedance is desired. For such applications, a rotary series elastic actuator (RSEA) has been introduced recently. This paper presents the design of RSEA and the associated control algorithms. To generate joint torque as desired, a torsional spring is installed between a motor and a human joint, and the motor is controlled to produce a proper spring deflection for torque generation… CONTINUE READING
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