IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Compact Rotary Series Elastic Actuator for Human Assistive Systems

Author(s): Kyoungchul Kong ; Joonbum Bae ; M. Tomizuka
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 April 2012
Volume: 17
Page Count: 10
Page(s): 288 - 297
ISSN (Paper): 1083-4435
ISSN (Online): 1941-014X
DOI: 10.1109/TMECH.2010.2100046
Regular:

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... View More

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