2026
A Compact Rotary Series Elastic Actuator with Wide Deflection Range and Linear Torque Response for pHRI Applications
ICRA 2026poster
This paper presents the design and characterization of a new series elastic actuator (SEA) for physical human-robot interaction (pHRI) featuring a compact spring mechanism. The spring mechanism consists of ten compression springs, fitted on output rotors and arranged in a curved formation. The compr…