Series elastic actuators

@article{Pratt1995SeriesEA,
  title={Series elastic actuators},
  author={Gill A. Pratt and Matthew M. Williamson},
  journal={Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots},
  year={1995},
  volume={1},
  pages={399-406 vol.1}
}
  • G. Pratt, M. Williamson
  • Published 5 August 1995
  • Engineering
  • Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
It is traditional to make the interface between an actuator and its load as stiff as possible. [] Key Method The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the…
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