Design, modeling, and control of a Series Elastic Actuator with Discretely Adjustable Stiffness (SEADAS)

Toubar, Hamed; Awad, Mohammad I.; Boushaki, Mohamed Nassim; Niu, Zhenwei; Khalaf, Kinda; Hussain, Irfan

doi:10.1016/j.mechatronics.2022.102863

Cited by 13 publications

(3 citation statements)

References 22 publications

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“…The matrices M d , C d , and K d are the desired mass, spring, and damper matrices, respectively. The following equivalencies are valid in an ideal estimation of robot dynamics, and measurements: (13) Simplifying this closed-loop dynamic equation, considering mentioned equivalency between real and estimated terms, and performing basic calculations yields the following equation:…”

Section: B Impedance Control Of Dmamentioning

confidence: 99%

“…SEAs, in particular, mitigate the impact of collisions by absorbing high forces, thereby shaping the collision behavior to be less harmful. While SEAs with low stiffness benefit from decoupling the reflected inertia from the actuator to the load, this advantage comes at the expense of decreased force control bandwidth and precision in positioning, which may not be suitable for all applications [13], [14].…”

Section: Introductionmentioning

confidence: 99%

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Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

Khorasani,

Usman,

Hubert

et al. 2024

IEEE Robot. Autom. Lett.

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In collaborative robotics, the safety of humans interacting with cobots is crucial. There is a need for collaborative robots that can move quickly while still being safe. This paper introduces the use of a kinematically redundant actuator in impedance control mode to reduce collision forces, aiming to improve both the safety and efficiency of collaborative robots. By distributing power across multiple drive-trains, each with unique properties such as reflected inertia, the actuator's behavior during collisions is optimized, which is key for safe interactions. Using theoretical analysis and practical experiments, we evaluate the response performance of the redundant actuator in various collision situations according to ISO/TS 15066, comparing it with that of a standard single-drive actuator. Our experiments show that the redundant actuator significantly lowers collision forces, with a 44% reduction in peak forces and an 81% decrease in transferred impulses during collisions. The paper concludes by offering a design parameter recommendation for designing actuators with reduced reflected inertia.

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Section: B Impedance Control Of Dmamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

Khorasani,

Usman,

Hubert

et al. 2024

IEEE Robot. Autom. Lett.

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show abstract

“…Estudos relacionados ao SEA estão progredindo em vários campos, tanto no controle mais robusto quanto no tipo de SEA se este for variável ( [65]), reconfigurável ( [66]), pneumático, baseado em fios, paralelos, paralelo e em série ao mesmo tempo, entre outras configurações. A seguir serão apresentados três tipos de SEA que estão sendo bastante estudados atualmente.…”

Section: Tipos De Juntas Flexíveisunclassified

Desenvolvimento E Controle De Um Acoplador Elástico Baseado Em Elastômeros Para Sea

REBELO LOPES

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Development of a compact rotary series elastic actuator with neural network-driven model predictive control implementation

Zhang,

Lin,

Wang

et al. 2024

Intel Serv Robotics

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Design, modeling, and control of a Series Elastic Actuator with Discretely Adjustable Stiffness (SEADAS)

Cited by 13 publications

References 22 publications

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

Desenvolvimento E Controle De Um Acoplador Elástico Baseado Em Elastômeros Para Sea

Development of a compact rotary series elastic actuator with neural network-driven model predictive control implementation

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