IEEE - Institute of Electrical and Electronics Engineers, Inc. - Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Glenn Mathijssen ; Raphael Furnemont ; Simon Beckers ; Tom Verstraten ; Dirk Lefeber ; Bram Vanderborght
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 857 - 862
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139278
Regular:

Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a... View More

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