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.
A clutched parallel elastic actuator concept: Towards energy efficient powered legs in prosthetics and robotics,
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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.