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.
An efficient leg with series–parallel and biarticular compliant actuation: Design optimiza- tion, modeling, and control of the eLeg
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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.