Скачать или смотреть Compact Planetary geared Elastic Actuator

Safety, compliance and human-friendliness are trending keywords in robotics now. The most significant reason for the growth in the use of these keywords is the progress of the service robot interacting with environments, including humans. Following these trends, Series Elastic Actuator (SEA) has received a large attention as a promising actuator in this field. Consequently, various SEA mechanisms have been developed by a lot of researchers ever since it was firstly introduced in 1990s. In spite of the development and applications at various SEAs, there still are challenging problems: backlash of gear reducer, encoder resolution problem, spring non-linearity, limited working range, etc.