2017
DOI: 10.1109/tmech.2017.2704665
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Design of Smart Modular Variable Stiffness Actuators for Robotic-Assistive Devices

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Cited by 67 publications
(32 citation statements)
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“…. e lo = (A e − L e C e )e lo + B le u le = (A e − L e C e )e lo + d le (19) where B le ∈ R 8×4 , u le ∈ R 4×1 , d le ∈ R 8×1 are shown in (20).…”
Section: The Linear Extended State Observer Designunclassified
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“…. e lo = (A e − L e C e )e lo + B le u le = (A e − L e C e )e lo + d le (19) where B le ∈ R 8×4 , u le ∈ R 4×1 , d le ∈ R 8×1 are shown in (20).…”
Section: The Linear Extended State Observer Designunclassified
“…If A e − L e C e is Hurwitz, then (19) will have BIBO stability. That is, there are ε dp ≥ 0 and ε dk ≥ 0, so that z q5 = z q5 −ẑ q5 ≤ ε dp and z k3 = |z k3 −ẑ k3 | ≤ ε dk are established.…”
Section: Assumptionmentioning
confidence: 99%
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“…where A depicts the network of ESAs described in (3) with parameters m = 2.94 × 10 −3 kg, k = 0.343 N/m, c = 1.75×10 −16 N · s/m . The mass of each coil is obtained by measurement.…”
Section: Numerical Testsmentioning
confidence: 99%
“…Series elastic and variable stiffness actuators (SEA/VSAs) are implemented and designed because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements [3]- [5]. However, they are made of intrinsically rigid components.…”
Section: Introduction Brief Literature Review Paper Contributionmentioning
confidence: 99%