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.
Series elastic actuators,
2 Pith papers cite this work. Polarity classification is still indexing.
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A bilateral teleoperation system with compliant 6-DOF sensors on both sides achieves stable tracking under 120 ms delays and 1% packet loss at 150 Hz on a Lite6/FR3 testbed.
citing papers explorer
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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.
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Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
A bilateral teleoperation system with compliant 6-DOF sensors on both sides achieves stable tracking under 120 ms delays and 1% packet loss at 150 Hz on a Lite6/FR3 testbed.