Series Viscoelastic Actuators Can Match Human Force Perception

Robust Force Control of Series Elastic Actuators

Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...

Robust Force and Impedance Control of Series Elastic Actuators

Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...

Human-adaptive control of series elastic actuators

Force controlled series elastic actuators (SEA’s) are widely used components of novel physical human-robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based...

3D Viscoelastic traction force microscopy.

Native cell-material interactions occur on materials differing in their structural composition, chemistry, and physical compliance. While the last two decades have shown the importance of traction forces during cell-material interactions, they have been almost exclusively presented on purely elastic in vitro materials. Yet, most bodily tissue materials exhibit some level of viscoelasticity, whi...

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