Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
Barkan Uğurlu, Emre Sarıyıldız, Ahmet Talha Kansizoglu, Erim Can Ozcinar, Sinan Coruk
Abstract
The diversity in torque-controlled actuators has enabled researchers to address numerous physical human–robot interaction applications with enhanced safety, dependability, and interaction capability <xref ref-type="bibr" rid="ref1" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[1]</xref> . Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, series elastic actuators (SEAs) could meet these requirements <xref ref-type="bibr" rid="ref2" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[2]</xref> , and they are extensively employed in state-of-the-art robot platforms <xref ref-type="bibr" rid="ref3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[3]</xref> – <xref ref-type="bibr" rid="ref4" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"/> <xref ref-type="bibr" rid="ref5" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[5]</xref> . As a result, SEA development is garnering interest in line with the growing need in related subfields in robotics.