2022/12/15 by Evangelos Chatziandreou, Chatziandreou, Evangelos, Chase W. Mathews +3
Engineering · #FOS: Computer and information sciences #Muscle activation and electromyography studies #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Soft Robotics and Applications
paper · pdf · doi:10.48550/arxiv.2212.07601
openalex publication_date 2022/12/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required.