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Keywords: series-elastic actuation
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Journal Articles
Article Type: Research Papers
J. Mech. Des. April 2007, 129(4): 406–412.
Published Online: April 6, 2006
... mechanisms capable of generating a wide variety of specifiable, nonlinear elastic relationships. One of these designs is physically implemented as a quadratic “spring” and is used to create a passively compliant robot joint with series-elastic actuation. A simple feed-forward algorithm is then experimentally...