Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots

Laffranchi, Matteo; Chen, Lisha; Kashiri, Navvab; Lee, Jinoh; Tsagarakis, Nikos G.; Caldwell, Darwin G.

doi:10.1016/j.robot.2014.06.007

Cited by 62 publications

(25 citation statements)

References 38 publications

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“…The location of the spring, however, can differ (any place among the power source, the transmission and the load) leading to various configurations of SEA. Figure 3b illustrates the possible locations (1), (2), (3) and (4) of the spring in SEA. Since the SEA structure was firstly proposed by Pratt in 1995, many types of SEA have adopted the configuration in which the spring is positioned at (4).…”

Section: Categorization Based On Spring Location Of Seamentioning

confidence: 99%

“…Since the SEA structure was firstly proposed by Pratt in 1995, many types of SEA have adopted the configuration in which the spring is positioned at (4). Recently, however, novel SEAs have been proposed to have different configurations by arranging springs at various positions from (1) to (3). This paper categorizes SEA configuration into three types based on the position of the spring as follows.…”

Section: Categorization Based On Spring Location Of Seamentioning

confidence: 99%

“…Despite these difficulties, SEA has been applied to robotic applications in various fields to take advantage of the high fidelity force control of SEA [3][4][5][6][7][8][9][10][11][12]. Lots of applications of SEA for quadruped robots, biped robot, dual arm robots and wearable robots, have demonstrated that SEA is the promising actuator system.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Lee

Kwak

et al. 2017

Actuators

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Abstract:The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to satisfy many requirements necessary for the applications. This paper provides a theoretical framework to categorize and compare these various configurations of SEAs. The general structure and model of SEA is provided, and SEA configurations are categorized into Force-sensing Series Elastic Actuator, Reaction Force-sensing Series Elastic Actuator and Transmitted Force-sensing Series Elastic Actuator, based on the relative location of the spring. Criteria such as Force sensitivity, Compliance and Transmissibility of SEA are derived and compared using actual SEAs that have been developed previously.

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Section: Categorization Based On Spring Location Of Seamentioning

confidence: 99%

Section: Categorization Based On Spring Location Of Seamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Lee

Kwak

et al. 2017

Actuators

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“…Also, a novel spring mechanism with an infinite range of stiffness was proposed in [23] for SEAs. Like the effect of variable stiffness, the effect of variable physical damping [24] and continuously-variable transmission [25] has been studied.…”

Section: Introductionmentioning

confidence: 99%

Re-Engineering a High Performance Electrical Series Elastic Actuator for Low-Cost Industrial Applications

Isik

et al. 2017

Actuators

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Abstract:Cost is an important consideration when transferring a technology from research to industrial and educational use. In this paper, we introduce the design of an industrial grade series elastic actuator (SEA) performed via re-engineering a research grade version of it. Cost-constrained design requires careful consideration of the key performance parameters for an optimal performance-to-cost component selection. To optimize the performance of the new design, we started by matching the capabilities of a high-performance SEA while cutting down its production cost significantly. Our posit was that performing a re-engineering design process on an existing high-end device will significantly reduce the cost without compromising the performance drastically. As a case study of design for manufacturability, we selected the University of Texas Series Elastic Actuator (UT-SEA), a high-performance SEA, for its high power density, compact design, high efficiency and high speed properties. We partnered with an industrial corporation in China to research the best pricing options and to exploit the retail and production facilities provided by the Shenzhen region. We succeeded in producing a low-cost industrial grade actuator at one-third of the cost of the original device by re-engineering the UT-SEA with commercial off-the-shelf components and reducing the number of custom-made parts. Subsequently, we conducted performance tests to demonstrate that the re-engineered product achieves the same high-performance specifications found in the original device. With this paper, we aim to raise awareness in the robotics community on the possibility of low-cost realization of low-volume, high performance, industrial grade research and education hardware.

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“…The inclusion of these dissipative mechanisms within series elastic actuators (SEAs) was proposed to overcome drawbacks arising from adding passive elasticity, i.e. unintentional oscillations can lead to inaccuracies in the motion and limit the stability margin [4]- [6]; albeit these issues can be also addressed using other types of variable impedance actuators (VIAs) [7], [8] by changing the system dynamics to higher frequencies. The dissipative action can be performed by various mechanisms and be created using different implementations.…”

Section: Introductionmentioning

confidence: 99%

Damping control of variable damping compliant actuators

Kashiri

Medrano-Cerda

Tsagarakis

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The development of variable impedance actuators (VIAs) has highlighted the need for proper control of passive impedance to attain suitable interaction performance. Until recently the regulation of the intrinsic impedance in VIAs is achieved in an open-loop model-based manner, mainly due to the lack of physical sensors capable of measuring impedance components such as stiffness and damping. Hence, the estimation of variable stiffness and damping has been explored, with the target to provide monitoring and feedback for potential closed loop control schemes. However, the use of the output of these estimators in the feedback control of variable impedance actuators has never been implemented/demonstrated in practice. This work contributes to the field with the development and experimental evaluation of a novel damping feedback control for a class of variable impedance compliant actuators able to realize a variable physical damping principle. The scheme is based on non-model-based damping estimation feedback to compensate model uncertainties in the action of an inner controller that uses a model-based friction estimator. Experimental results demonstrate the ability of the proposed scheme to replicate with good fidelity constant and time-varying damping levels.

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Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots

Cited by 62 publications

References 38 publications

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Re-Engineering a High Performance Electrical Series Elastic Actuator for Low-Cost Industrial Applications

Damping control of variable damping compliant actuators

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