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A Low Cost Series Elastic Actuator Test Bench

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Part of the Lecture Notes in Computer Science book series (LNAI,volume 12228)


The concept of compliance relates to a robot’s capability to exert, absorb, and measure forces acting on its joints. The existing research currently available for compliant actuators is promising, but prohibitively expensive, posing a fiscal entry barrier to research.

This paper presents a low cost Series Elastic Actuator test bench, as an initial work towards a modular compliant actuator toolkit (MCAT).


  • Compliance
  • Variable stiffness
  • Series elastic actuator
  • Robotics

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  • DOI: 10.1007/978-3-030-63486-5_6
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Correspondence to Oliver Smith or Swen E. Gaudl .

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Smith, O., Gaudl, S.E. (2020). A Low Cost Series Elastic Actuator Test Bench. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham.

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-63485-8

  • Online ISBN: 978-3-030-63486-5

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