Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure

Abstract

Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However, there are still challenges for the impedance control of cable-driven SEAs, such as the reduced bandwidth caused by the… (More)
DOI: 10.1109/IROS.2016.7759515

Topics

13 Figures and Tables