2017/01/14 by Wulin Zou, Zou, Wulin, Ningbo Yu +1
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Prosthetics and Rehabilitation Robotics #Robot Manipulation and Learning #Robotics (cs.RO) #Soft Robotics and Applications #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1701.03913
openalex publication_date 2017/01/14 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Further, a two degrees of freedom (2-DOF) control approach has been employed to control the output torque. Simulation results have shown that the 2-DOF method has achieved better robust performance than the PD method.