Enhancing joint torque control of series elastic actuators with physical damping


This paper presents that the joint torque control capability can be enhanced by adding physical damper to a series elastic actuator (SEA). Joint torque tracking of standard SEA has known limitations that the torque dynamics has an relative order of two, and, as a consequence, the torque controller often requires acceleration feedback when the desired torque… (More)
DOI: 10.1109/ICRA.2017.7989145


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