Adaptive Coupled Elastic Actuator Developed for Physical Human–Robot Interaction

摘要: Considering the interaction between people and machines under safety constraints without utilizing difficult complex control strategies, this paper proposes a new actuator design—adaptive coupled elastic (ACEA) with adjustable characteristics adaptive to applied output force input force. This would provide oncoming robotic systems an intrinsic compromise performance in unstructured environments (i.e., exhibiting desired lower higher impedance depending on different operation situations). Having introduced its concept design, also presents modeling, analysis for ACEA system, not only useful information investigate basic of designed but benefit design more advanced controller near future. Finally, experimental results are presented show properties proposed system.