A prototype Dual-Topology Elastic Actuator switches between SEA and PEA modes in under 33 ms, survives 324 loaded cycles, and shows stiffness and disturbance rejection matching known SEA and PEA behaviors.
Clutchable series- elastic actuator: Implications for prosthetic knee design,
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DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
A prototype Dual-Topology Elastic Actuator switches between SEA and PEA modes in under 33 ms, survives 324 loaded cycles, and shows stiffness and disturbance rejection matching known SEA and PEA behaviors.