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• W3195298687 abstract "In this paper, we present a novel prototype of a flat and compact series elastic actuator (SEA) intended for use in assistive and portable upper limb exoskeletons. The elastic joint in series to the brushless motor is based on reliable and robust linear tension springs to achieve a high torque to weight ratio while keeping the design simple and cheap. A method to design the spring stiffness, based on the joint requirements, is proposed, and the torque controller for the device is presented. Characterization experiments have been carried out to verify the concept model and to tune and validate the torque estimator based on the elastic joint. The SEA exhibits suitable performance for the intended application: 39.7 Hz bandwidth in closed-loop torque control; about 0.2 Nm RMS torque in transparency operations; stability and acceptable torque tracking performance in compliant control mode." @default.
• W3195298687 created "2021-08-30" @default.
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• W3195298687 date "2021-08-08" @default.
• W3195298687 modified "2023-10-16" @default.
• W3195298687 title "Design and Control of a Linear Springs-Based Rotary Series Elastic Actuator for Portable Assistive Exoskeletons" @default.
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• W3195298687 doi "https://doi.org/10.1109/ro-man50785.2021.9515444" @default.
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