Marvin van Nunspeet

Design and evaluation of the Bi-directional Clutched Parallel Elastic Actuator (BIC-PEA)

Parallel elastic actuators (PEAs) have shown the ability to reduce the energy consumption of robots. The problem with regular PEAs is that it is not possible to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and the design of the Bi-dire…