4 accepted papers
A Series Elastic Actuator (SEA) is designed by placing a passive compliant element between a conventional stiff actuator and link. The intrinsically compliant mechanical structure provides several superiorities, e.g., safety, energy efficiency, high force fidelity, low cost force measurement, high t…
In this paper, a new robust position controller is proposed for Series Elastic Actuators (SEAs) by using Sliding Mode Control (SMC) and a second order Disturbance Observer (DOb). The latter estimates not only disturbances but also their first and second order successive derivatives. A simple yet eff…
Series Elastic Actuators (SEAs) have several superiorities over conventional stiff and non-back-drivable actuators in force control, e.g., lower reflected inertia, low cost force measurement, high force fidelity, safety, and so on. However, their position control applications significantly suffer fr…
This paper proposes a new robust position control method for a novel series elastic actuator (SEA). It is a wellknown fact that SEAs provide many benefits in force control, e.g., lower reflected inertia and impedance, greater shock tolerance, safety, and so on. However, current SEA designs have a co…