Humanoid Robots: A New Kind of Tool
IEEE Intelligent Systems
Dynamics, Morpholgy, and Materials in the Emergence of Cognition
KI '99 Proceedings of the 23rd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
Robotica
International Journal of Robotics Research
International Journal of Robotics Research
Programmable springs: Developing actuators with programmable compliance for autonomous robots
Robotics and Autonomous Systems
Controlling the Walking Speed in Limit Cycle Walking
International Journal of Robotics Research
Design of series damper actuator
Robotica
Kick it with elasticity: Safety and performance in human-robot soccer
Robotics and Autonomous Systems
Powered ankle-foot prosthesis improves walking metabolic economy
IEEE Transactions on Robotics
Impedance compensation of SUBAR for back-drivable force-mode actuation
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
A highly backdrivable, lightweight knee actuator for investigating gait in stroke
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Robot hand with soft compliant mechanism for human body care
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Development of robot hand aiming at nursing care services to humans
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A variable stiffness PZT cellular actuator with tunable resonance for cyclic motion tasks
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
2 DOF Cartesian force limiting device for safe physical human-robot interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A compact soft actuator unit for small scale human friendly robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Design methodologies of a hybrid actuation approach for a human-friendly robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Antagonistic and series elastic actuators: a comparative analysis on the energy consumption
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Enhanced manipulator's safety with artificial pneumatic muscle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the feasibility and suitability of MR and ER based actuators in human friendly manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Safe human robot interaction via energy regulation control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Biologically inspired compliant control of a monopod designed for highly dynamic applications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Adaptive control strategies for open-loop dynamic hopping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Safe human robot interaction via energy regulation control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Development of multi-directional compliant joint module for human-care robot
International Journal of Robotics and Automation
Design and Control of a Bio-inspired Human-friendly Robot
International Journal of Robotics Research
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
The cog project: building a humanoid robot
Computation for metaphors, analogy, and agents
Computation for metaphors, analogy, and agents
International Journal of Robotics Research
Artificial Life and Robotics
Effects of force feedback and arm compliance on teleoperation for a hygiene task
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
A variable stiffness PZT actuator having tunable resonant frequencies
IEEE Transactions on Robotics
Dynamic modeling of the 4 DoF BioRob series elastic robot arm for simulation and control
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Compliant robot actuation by feedforward controlled emulated spring stiffness
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
LARP, biped robotics conceived as human modelling
Biomimetic Neural Learning for Intelligent Robots
Haptic interface transparency achieved through viscous coupling
International Journal of Robotics Research
Modeling, stability and control of biped robots-a general framework
Automatica (Journal of IFAC)
International Journal of Robotics Research
Design and performance evaluation of a rotary series elastic actuator
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
On-line estimation of variable stiffness in flexible robot joints
International Journal of Robotics Research
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Variable impedance actuators: A review
Robotics and Autonomous Systems
Real-time compliance control of an assistive joint using QNX operating system
International Journal of Automation and Computing
New joint design to create a more natural and efficient biped
Applied Bionics and Biomechanics
Applied Bionics and Biomechanics
Influence of attachment pressure and kinematic configuration on pHRI with wearable robots
Applied Bionics and Biomechanics
Applied Bionics and Biomechanics - Human-Robot Interaction/Interface
Proof of concept: Model based bionic muscle with hyperbolic force-velocity relation
Applied Bionics and Biomechanics
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It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.