Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators

This article offers a new insight to the achievable stiffness limitation of impedance control series elastic actuators (SEAs) by suggesting comparative analysis energy ports and passivity framework at port enhance maximum rendered SEAs. To this end, it is explored that SEAs have two different definitions assess system - spring load port; conservatisms for evaluation are investigated compared utilizing frequency characteristics. The results reveal exhibits less conservatism, which allows render larger in impedance-controlled Moreover, key parameters determine characteristic SEA discovered based on analysis. A novel incorporates time-domain observer controller designed monitoring, conservative assessment systems passivity. Throughout control, can be achieved much higher than has been perceived as value.