3 accepted papers
We present an adjustable-equilibrium parallel elastic actuator (AE-PEA) that combines a large direct-drive motor (DDM) and a 3D printed torsional spring with a small motor that can continuously adjust the equilibrium position of the actuator. We demonstrate that the AE-PEA achieves high torque contr
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs or the elderly with weak legs) necessitate different assisti…
In this paper, we introduce a new type of compliant actuator named the Parallel Variable Stiffness Actuator (PVSA) which consists of a variable stiffness spring placed in parallel with a direct-drive motor. Parallel variable stiffness actuators provide (i) high-fidelity force control and (ii) contro…