Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering
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DOI: 10.1109/toh.2021.3140143
Abstract: Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity… read more here.
Keywords: series elastic; control; force; null impedance ... See more keywords