A novel variable impedance compact compliant series elastic actuator for human-friendly soft robotics applications

• Main Author: Rahman, S. M. Mizanoor.
• Other Authors: IEEE International Symposium on Robot and Human Interactive Communication (21st : 2012 : Paris, France)
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Online Access: https://hdl.handle.net/10356/99577; http://hdl.handle.net/10220/12916
• Institution: Nanyang Technological University

This paper presents the analysis of electro-mechanical design, materials, dynamics and control of a novel variable impedance compact compliant series elastic actuator (SEA) to improve human-robot interactions in human-friendly soft robotics applications. The design consists of a servomotor, a ball s...