Unconstrained Impedance Control Using a Compact Series Elastic Actuator

Series elastic actuators offer high fidelity force control with inherent low impedance above their controllable frequency bandwidth. As a result they well suited for interaction with humans, in which safety is paramount. Their high force fidelity suggests that they may be a suitable for impedance co...

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Bibliographic Details
Published in2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications pp. 1 - 6
Main Authors Sensinger, Jonathon W., Weir, Richard F.ff
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2006
Subjects
Actuators
Bandwidth
Force control
Frequency
Humans
Impedance
low impedance
Motion control
non-backdrivable
Performance evaluation
Safety
series elastic actuator
Testing
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ISBN9780780397217
0780397215
DOI10.1109/MESA.2006.296972

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Summary:Series elastic actuators offer high fidelity force control with inherent low impedance above their controllable frequency bandwidth. As a result they well suited for interaction with humans, in which safety is paramount. Their high force fidelity suggests that they may be a suitable for impedance control, in which the interaction between motion and force is controlled. The authors model the unconstrained actuator, and perform tests to evaluate the ability of series elastic actuators to mimic different stiffness. Series elastic actuators are found to be adequate for unconstrained impedance control at input frequencies below 3 Hz
ISBN:9780780397217
0780397215
DOI:10.1109/MESA.2006.296972