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 …

This paper provides a detailed analysis of the power and mechanical/electrical energy
consumption of Series Elastic Actuators (SEAs) and Parallel Elastic Actuators (PEAs). The …

This work gives an overview of all types of constant torque mechanisms (CTMs) based on
both function and structure. Based on their architecture, they can be divided into five distinct …

Compared to rigid actuators, series elastic actuators (SEAs) offer a potential reduction of
motor energy consumption and peak power, though these benefits are highly dependent on …

Electric vehicles are usually required to work in rapidly changing conditions of speed and
torque. This often makes the motors run in low-efficiency condition. Thanks to the integration …

A physically-motivated friction model with a parametric description of the nonlinear
dependency of the temperature and velocity as well as the dependency on external load is …

In recent years, many works have appeared, which present novel mechanical designs,
control strategies, or trajectory planning algorithms for improved energy efficiency. The …

It is well-established that properly tuned elastic elements can make robotic actuators more
energy-efficient, especially in cyclic tasks. Considering a drive train topology, two important …

Several works have shown that series and parallel elasticity can reduce peak power and
energy consumption in prosthetic ankles. Setting the right stiffness of the elastic elements is …

This paper presents an original form of surrogate models and the associated construction
procedure adapted to the thermal modeling of Multiphysics systems. This method of meta …