Research on the Inherent Nonlinearity Calibration of the Potentiometer of a Miniature Linear Series Elastic Actuator

This paper presents a miniature Linear Series Elastic Actuator (LSEA), in which two low-cost linear potentiometers were adopted to achieve compact design. To improve the measurement accuracy of potentiometer, novel Bezier-based Calibration Method (BCM) and its optimization method proposed calibrate inherent nonlinearity potentiometer. efficiency BCM was investigated numerically by making comparison with widely used Polynomial (PCM), effect calibration on control performance LSEA experimentally displacement force control. Results reveal that exhibits an excellent local ability for knee points. Due above characteristic, could produce better than PCM under same model order LSEA. In addition, potentiometer continuous form rather piecewise ones. The bring more convenience practical applications.