Despite enhancements in the development of robotic systems, the energy economy of
today's robots lags far behind that of biological systems. This is in particular critical for …

Actuators that employ clutches can exhibit mechanical impedance tuning and improved
energy efficiency. However, these integrated designs have been difficult to achieve in …

We present the development, modeling, and control of a three-degree-of-freedom
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …

Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system
for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI) …

By connecting two drivetrains to a single load, a redundant degree of freedom is created. In
this work, we investigate how the redundancy of such a system can be exploited in order to …

In robotic actuators, low speeds and high torques are usually required. Small electric motors,
which are more efficient at high speeds and low torques, do not fit the requirements directly …

We developed a new actuator, the plus Series-Parallel Elastic Actuator (+ SPEA), which is a
redundant actuator using brakes. This actuator can achieve additional objectives, other than …

In this letter, we present the kinematically redundant series elastic dual-motor actuator
(SEDMA). It consists of two motors, coupled to a series spring through a planetary …

Robots often switch from highly dynamic motion to delivering high torques at low speeds.
The actuation requirements for these two regimes are very different. As a consequence, the …

In this paper we present the design, development and experimental validation of a novel
Binary-Controlled Variable Stiffness Joint (BpVSJ) towards haptic teleoperation and human …