Yuki Matsuo

Evaluation of Series Clutch Actuators With a High Torque-to-Weight Ratio for Open-Loop Torque Control and Collision Safety

For robots that act outside of tightly controlled environments, force control is often better suited than position control. Series clutch actuators, used without an elastic element, can achieve excellent position control or can be used as a force/torque source. Clutches based on different physical p