Abstract Series elastic joints allow force and impedance controllers to be implemented on
high torque and high power density motors. Several impedance controllers have been …

Recently, a series elastic actuator (SEA) has emerged as a potential actuator system for
various robotic applications where safe and precise interactive force control is required …

Despite tremendous improvements in recent years, lower-limb prostheses are still inferior to
their biological counterparts. Most powered knee joints use impedance control, but it is …

Compliance is increasingly being incorporated in the transmission of robotics actuation
systems to cope with unpredictable interactions, improve the robustness of the robot and in …

Compliant actuators are essential for ensuring safety in physical human-robot interaction. A
compact-sized series elastic actuator (SEA), a type of compliant actuators, was developed to …

Series elastic actuators (SEAs) have become fundamental components in robots that
physically interact with the surrounding world and with humans. Force control of SEAs is …

Knowing accurate model of a system is always beneficial to design a robust and safe control
while allowing reduction of sensors-related cost as the system outputs are predictable using …

Stroke survivors may benefit from robotic assistance for relearning of functional movements.
Current assistive devices are either passive, limited to only two dimensions or very powerful …

Robots driven by variable stiffness actuators (VSAs) have been an important technology as
they could provide intrinsic compliance for safe human-robot interaction. The internal …

The design and control of a new series-viscous-elastic joint are presented. The proposed
joint consists of 3D printed parts compressing nonlinear elastic silicone springs. The use of …