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A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators....
Controlling the gripping force on objects has been a challenging task for industrial grippers. Its realization often requires an electric gripper with embedded force sensors and control feedback. This approach is costly and introduces extra complexity for grippers. To avoid damage while handling fragile objects, this paper presents a novel force regulation mechanism (FRM) to be installed on grippers...
It has been a challenge to design humanoid robots that possess intrinsic compliant actuation, especially for robots that are required to be manipulated multidimensionally. Adapting from human limbs, robotic manipulators with internal mechanical compliance can perform high-quality force/torque control and more safely interact with humans. This paper presents a humanoid robotic wrist whose size, range-of-motion,...
It has been a challenge to design robots that possess intrinsic compliance, especially for robots that are required to achieve multi-DOF manipulation. Inspired by human limbs, robotic manipulators with internal compliance can perform high-quality force/torque control and better human-robot interaction. This paper presents a robotic wrist whose size, range, and torque output are comparable to those...
Force regulation is a challenging issue of robot end-effectors when interacting with unknown environments. It often requires sophisticated sensors with computerized control. This paper presents a constant-force mechanism (CFM) to regulate the contact force of a robot end-effector. The proposed CFM is a monolithic compliant mechanism that has no frictional wear and is capable of miniaturization. Due...
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