Abstract
The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices
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Published in Prikladnaya Mekhanika, Vol. 43, No. 4, pp. 130–142, April 2007.
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Van Ham, R., Van Damme, M., Verrelst, B. et al. MACCEPA, The mechanically adjustable compliance and controllable equilibrium position actuator: A 3DOF joint with two independent compliances. Int Appl Mech 43, 467–474 (2007). https://doi.org/10.1007/s10778-007-0044-4
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DOI: https://doi.org/10.1007/s10778-007-0044-4