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- W2086889378 abstract "Although backdrivability is recognized as an important property of actuators, this term is often used without clear definition. In order to design mechanisms with advanced controllability, it is important to understand the fundamental mechanism of backdrivability. In this paper, we introduced idea of series elasticity and series dissipation of actuators. Based on this idea, total/output backdrivability and their fundamental properties are stated. EHA was shown to be series dissipative and it was confirmed from the model of the actuator. Utilizing the backdrivability of EHA, position based impedance control was implemented and evaluated. Application of this EHA in a robot hand is also reported." @default.
- W2086889378 created "2016-06-24" @default.
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- W2086889378 date "2010-05-01" @default.
- W2086889378 modified "2023-10-01" @default.
- W2086889378 title "Backdrivability analysis of Electro-Hydrostatic Actuator and series dissipative actuation model" @default.
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- W2086889378 doi "https://doi.org/10.1109/robot.2010.5509789" @default.
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