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Precise and large torque generation, back-drivability, low output impedance, and compactness of hardware are important requirements for human assistive robots. In this paper, a compact rotary series elastic actuator (cRSEA) is designed considering these requirements. To magnify the torque generated by an electric motor in the limited space of the compact device, a worm gear is utilized. However, the...
Actuators for physical human-robot interaction (pHRI), such as series elastic actuators, should generate the desired torque precisely. However, the resistive and inertia loads inherent in the actuators (e.g., friction, damping, and inertia) set challenges in the control of actuators in a force (torque) mode. The resistive factors include nonlinear effects and should be considered in the controller...
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