Improvements to Series Elastic Actuators

Actuators must be safe when interacting with humans, even in unexpected situations. Safety requires low impedance (low forces for a given perturbation) at all frequencies, not only in the actuator's stable bandwidth. Series elastic actuators (SEAs) are capable of achieving low impedance across...

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Bibliographic Details
Published in2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications pp. 1 - 7
Main Authors Sensinger, Jonathon W., Ff. Weir, Richard F.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2006
Subjects
Actuators
Bandwidth
Feedback loop
Force control
Force feedback
Force sensors
Frequency
Humans
Impedance
low impedance
Safety
series elastic actuator
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ISBN9780780397217
0780397215
DOI10.1109/MESA.2006.296927

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Summary:Actuators must be safe when interacting with humans, even in unexpected situations. Safety requires low impedance (low forces for a given perturbation) at all frequencies, not only in the actuator's stable bandwidth. Series elastic actuators (SEAs) are capable of achieving low impedance across all frequencies, though their force-frequency saturation envelope is decreased as a result. This paper examines ways to increase the force fidelity of SEAs by introducing inner control feedback loops and using appropriate sensor location. Findings include the superiority of a low fidelity sensor distal to stiction sources over a high fidelity sensor proximal to stiction and the superiority of an inner position feedback loop over an inner velocity feedback loop
ISBN:9780780397217
0780397215
DOI:10.1109/MESA.2006.296927