Motivated by the role of compliant elements in animal motion, springs are introduced in the
driving train of legged robots to improve their locomotion performance. This paper presents …

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 …

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 …

Weight-bearing exoskeletons are robots that need to carry loads and interact with humans
frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of …

The bionic design of muscles is a research hotspot at present. Many researchers have
designed bionic elastic actuators based on the Hill muscle model, and most of them include …

This paper introduces the analysis, design and preliminary evaluation of a self-integrated
parallel elastic actuator (PEA) with an electric motor and a flat spiral spring in parallel to …

Despite the growing focus on the design of compliant mechanisms for robotics actuators that
manifest several advantages in terms of robustness and interaction-related characteristics …

ABSTRACT Series Elastic Actuator (SEA) with both security and high performance is used
extensively for rehabilitation robots with physical interaction. Human joints applied for …

Typically, for pick-and-place robots operating at high speeds, an enormous amount of
energy is lost during the robot braking phase. This is due to the fact that, during such …

Limited load capacity is the bottleneck for the practical application of mobile multi-joint
legged robots. And improving the efficiency of the drive system is a key factor in improving …