It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertant damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth [9][10]. In this paper, we propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within an actuator is a good idea. We 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, we present a control system for their use under general force or impedance control. We conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog [5] and for a small planetary roveri21.'
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Series elastic actuators
Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
Computer Science