지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,949 - 1,954 (6page)
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초록· 키워드
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Series elastic actuators (SEA’s) have been widely used in rehabilitation robots and haptic devices to provide sufficient compliance as well as safety, among some other properties, for performing interactive tasks. Nevertheless, SEA"s suffer from two major drawbacks; namely short bandwidth and limited rendered stiffness. In this paper, we propose a new elastic actuator concept in that a set of spatially distributed and mechanically parallel SEAs, each called a SEA component, are grouped and control a single joint. We call our system distributed series elastic actuator (DSEA). Each SEA component has its own controller but gets its set point from a load distribution system. The analytical and the simulation results show that a DSEA has wider bandwidth and better transient performance in addition to elevated rendered stiffness in comparison to its equivalent SEA. In addition, DSEAs consume less energy and require lower power as well as torque.
목차
Abstract
1. INTRODUCTION
2. SERIES ELASTIC ACTUATORS
3. Distributed SEA (DSEA)
4. COMPARING BANDWIDTH OF SEA AND DSEA
5. ENERGY CONSUMPTION
6. CONCLUSIONS
REFERENCES
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