2019
Design of a Miniature Series Elastic Actuator for Bilateral Teleoperations Requiring Accurate Torque Sensing and Control
RA-L 2019
Compared with stiff actuators, series elastic actuators (SEAs) can render more accurate output torque and stiffness. Hence, SEAs are suitable for robots that need to interact safely with human or properly with the actual or virtual environment. Many existing rotary SEAs are bulky and not suitable fo