Abstract
This paper introduces the concept of Series Elastic Link which exploits the inherent elasticity of flexible links to implement compliant actuation and control using lightweigt and low cost components.
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References
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Calanca, A., Fiorini, P.: Impedance control of series elastic actuators: passivity and acceleration-based control. Mechatronics 47, 37–48 (2017)
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Calanca, A., Bettinelli, L., Dimo, E., Vicario, R., Serpelloni, M., Fiorini, P. (2019). Introducing Series Elastic Links. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_90
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DOI: https://doi.org/10.1007/978-3-030-01887-0_90
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