3 accepted papers
Accurate torque estimation in robotic actuators with harmonic drives is challenging due to nonlinear hysteresis and efficiency losses, often necessitating external torque sensors. This paper presents a learning-based torque estimation method that leverages encoder-derived features and mechanical com…
Series elastic actuators (SEAs) achieve output torque and stiffness control by managing the deformation of a spring arranged between the motor and the output. SEAs are ideal for tasks involving human-robot interaction and unstructured environments. The stiffness, size, and torque capacity of the spr
Various sensorized grippers have been developed to handle delicate objects safely. These grippers have sensors mounted on their fingers’ surface that provide direct force measurements. However, multiple sensors are often required on one finger, leading to significant sensor placement and wire routin…