Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator

  • Leandro Tomé Martins
  • Christopher Tatsch
  • Eduardo Henrique Maciel
  • Renato Ventura Bayan Henriques
  • Reinhard Gerndt
  • Rodrigo Silva da Guerra
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9513)


This article extends previous work, presenting a novel polyurethane based compliant spring system designed to be attached to a conventional robotics servo motor, turning it into a series elastic actuator (SEA). The new system is composed by only two mechanical parts: a torsional polyurethane spring and a round aluminum support for link attachment. The polyurethane spring, had its design derived from a iterative FEM-based optimization process. We present also some system identification and practical results using a PID controller for robust position holding.


Series elastic actuator Passive compliance 


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© Springer International Publishing Switzerland 2015

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Authors and Affiliations

  • Leandro Tomé Martins
    • 1
  • Christopher Tatsch
    • 1
  • Eduardo Henrique Maciel
    • 2
  • Renato Ventura Bayan Henriques
    • 2
  • Reinhard Gerndt
    • 3
  • Rodrigo Silva da Guerra
    • 1
  1. 1.Centro de TecnologiaUniversidade Federal de Santa MariaSanta MariaBrazil
  2. 2.Programa de Pós-Graduação em Engenharia ElétricaUniversidade Federal do Rio Grande do SulPorto AlegreBrazil
  3. 3.Department of Computer SciencesOstfalia University of Applied SciencesWolfenbüttelGermany

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