MACCEPA, The mechanically adjustable compliance and controllable equilibrium position actuator: A 3DOF joint with two independent compliances

@article{Ham2007MACCEPATM,
  title={MACCEPA, The mechanically adjustable compliance and controllable equilibrium position actuator: A 3DOF joint with two independent compliances},
  author={Ronald Van Ham and Micha{\"e}l Van Damme and Bj{\"o}rn Verrelst and Bram Vanderborght and Dirk Lefeber},
  journal={International Applied Mechanics},
  year={2007},
  volume={43},
  pages={467-474}
}
The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices 

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