Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator

The diversity in torque-controlled actuators has enabled researchers to address numerous physical human–robot interaction applications with enhanced safety, dependability, and capability [1] . Yet, only a few meet the challenging application requirements of mobility, improved torque/mass ratio, structural integrability. To this end, series elastic (SEAs) could these rid="ref2" xmlns:xlink="http://www.w3.org/1999/xlink">[2] , they are extensively employed state-of-the-art robot platforms rid="ref3" xmlns:xlink="http://www.w3.org/1999/xlink">[3] – rid="ref4" xmlns:xlink="http://www.w3.org/1999/xlink"/> rid="ref5" xmlns:xlink="http://www.w3.org/1999/xlink">[5] As result, SEA development is garnering interest line growing need related subfields robotics.