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Although backdrivability is recognized as an important property of actuators, this term is often used without clear definition. In order to design mechanisms with advanced controllability, it is important to understand the fundamental mechanism of backdrivability. In this paper, we introduced idea of series elasticity and series dissipation of actuators. Based on this idea, total/output backdrivability...
When robots cooperate with humans it is necessary for robots to move safely on sudden impact. Joint torque sensing is vital for robots to realize safe behavior and enhance physical performance. Firstly, this paper describes a new torque sensor with linear encoders which demonstrates electro magnetic noise immunity and is unaffected temperature changes. Secondly, we propose a friction compensation...
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