Improving the Dynamic Force Control of Series Elastic Actuation Using Motors of High Torque-to-Inertia Ratios
A series elastic actuator (SEA) includes an elastic spring in series with an actuator. SEAs provide more accurate force and impedance control than conventional rigid actuators. They are ideal for robots and machines that need to interact safely with the environment. The majority of existing SEAs use...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8949488/ |