A unidirectional series-elastic actuator design using a spiral torsion spring

Journal of Mechanical Design

Volumn 131, Issue 12, 2009, Pages 1250011-1250015

  Knox, Brian T ^a   Schmiedeler, James P ^b  

^a The Ohio State University   (United States)

^b University of Notre Dame   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPLIANCE CONTROL; COMPLIANT MECHANISMS; MACHINE DESIGN; MECHANISMS; ROBOTS; TORSIONAL STRESS;

ACTUATOR DESIGN; BIPED ROBOT; DYNAMIC MANEUVERS; ELECTROMECHANICAL ACTUATION; LEGGED ROBOTS; NOVEL SERIES; ROTATIONAL MOTION; SERIES ELASTIC ACTUATORS; TORSION SPRINGS; UNDER LOADS;

POSITION CONTROL;

EID: 77955198410     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.4000252     Document Type: Article

References (16)

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