scholarly journals Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg

2019 ◽  
Vol 13 ◽  
Author(s):  
Chan Lee ◽  
Sehoon Oh
Keyword(s):  
Series Elastic Actuator ◽  
Robot Leg ◽  
Development Analysis ◽  
And Control ◽  
Series Elastic

Design and Control of a Novel Series Elastic Actuator for Knee Exoskeleton

2019 ◽  
pp. 629-640
Author(s):  
Chenglong Qian ◽  
Aibin Zhu ◽  
Jiyuan Song ◽  
Huang Shen ◽  
Xiaodong Zhang ◽  
...  
Keyword(s):  
Series Elastic Actuator ◽  
And Control ◽  
Series Elastic

Modeling and Control of Nonlinear Series Elastic Actuator

2007 ◽  
Author(s):  
Ehsan Basafa ◽  
Hassan Salarieh ◽  
Aria Alasty
Keyword(s):  
Nonlinear Models ◽  
Human Gait ◽  
Output Impedance ◽  
Modeling And Control ◽  
Series Elastic Actuator ◽  
Scheduling Method ◽  
Normal Human ◽  
Series Elastic Actuators ◽  
And Control ◽  
Series Elastic

Series Elastic Actuators are force actuators with applications in robotics and biomechanics. In linear Series Elastic Actuators, a large force bandwidth requires a stiff sensor (spring), but the output impedance puts an upper limit on this parameter, therefore selecting the proper spring is difficult in these actuators. In this paper, Series Elastic Actuator is modeled with a nonlinear, stiffening spring and controlled using the Gain Scheduling method. Simulations show that both linear and nonlinear models have similar force bandwidths, but the nonlinear one shows much lower output impedance. Hence, the choice of spring for actuator design is an easier task than that of the linear model. Also, as a force-augmenting device for the knee joint in normal human gait, the nonlinear model acts better in simulations.

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