SEAs

2016.11.22
Jian-Hang Chen

Gill Pratt original one

M. M. Williamson, Series elastic

actuators, June 1995, Massachusetts
Institute of Technology.
G. A. Pratt, M. M. Williamson, "Series
elastic actuators", IEEE International
Conference on Intelligent Robots and
Systems, vol. 1, pp. 399-406, 1995.

cross spring
more strips could be put in pure
torsion

Gill Pratt

Robinson, D. W., & Pratt, G. A. (2000). Force controllable hydro-elastic

actuator. Robotics and Automation, 2000. Proceedings, ICRA 00 IEEE
International Conference on, 2, 13211327.
https://doi.org/10.1109/ROBOT.2000.844781

EM series elastic actuator

Robinson, D. W. (2000). Design and analysis of series elasticity in

closed-loop actuator force control. Phd, 123. Retrieved from
https://dspace.mit.edu/bitstream/handle/1721.1/54838/45993503
-MIT.pdf?sequence=2

Pratt, G. A., Willisson, P., Bolton, C., & Hofman, A. (2004). Late
motor processing in low-impedance robots: impedance control
of series-elastic actuators. American Control Conference, 2004.
Proceedings of the 2004, 4, 32453251 vol.4.
https://doi.org/10.1109/ACC.2004.182786

UT-SEA Actuator

Paine, N., Oh, S., & Sentis, L. (2014). Design and

control considerations for high-performance
series elastic actuators. IEEE/ASME
Transactions on Mechatronics, 19(3), 1080
1091.
https://doi.org/10.1109/TMECH.2013.2270435

Design and Comparative Analysis of a

Retrofitted Liquid Cooling System for
High-Power Actuators

Paine, N., & Sentis, L. (2015). Design and Comparative

Analysis of a Retrofitted Liquid Cooling System for HighPower Actuators. Actuators, 4(3), 182202.

Actuator control for the NASA-JSC

valkyrie humanoid robot

Paine, N., Mehling, J. S., Holley, J., Radford, N. A., Johnson, G., Fok, C.
L., & Sentis, L. (2015). Actuator control for the NASA-JSC valkyrie
humanoid robot: A decoupled dynamics approach for torque
control of series elastic robots. Journal of Field Robotics, 32(3),
378396. https://doi.org/10.1002/rob.21556

IHMC

Pratt, J. E., & Krupp, B. T. (2004).

Series Elastic Actuators for legged
robots, 5422, 135144.
https://doi.org/10.1117/12.548000

Open-source SEA developed by

Yobotics and provided by IHMC

http://www.genebm.com/walkabout-design-log/

IIT sea

Tsagarakis, N. G., Laffranchi, M., Vanderborght, B., & Caldwell, D. G.

(2009). A compact soft actuator unit for small scale human friendly
robots. 2009 IEEE International Conference on Robotics and
Automation, 43564362. https://
doi.org/10.1109/ROBOT.2009.5152496
Laffranchi, M., Tsagarakis, N., & Caldwell, D. G. (2009). Safe Human
Robot Interaction via Energy regulation control.

Hugh Hurr

Paluska, D., & Herr, H. (2006). The

effect of series elasticity on
actuator power and work output:
Implications for robotic and
prosthetic joint design. Robotics
and Autonomous Systems, 54(8),
667673.
https://doi.org/10.1016/j.robot.200

prosthesis

Au, S. K., Dilworth, P., & Herr, H. (2006). An Ankel-Foot Emulation

System for the Study of Human Walking Biomechanics.
Proceedings of the 2006 IEEE International Conference on
Robotics and Automation, (May), 29392945.
https://doi.org/http://dx.doi.org/10.1109/ROBOT.2006.1642148

prosthesis

Au, S. K., Herr, H., Weber, J., & Martinez-Villalpando, E. C.

(2007). Powered ankle-foot prosthesis for the improvement of
amputee ambulation. Annual International Conference of the
IEEE Engineering in Medicine and Biology - Proceedings,
30203026. https://doi.org/10.1109/IEMBS.2007.4352965

Rouse, E. J., Mooney, L. M., & Herr, H. M. (2014). Clutchable

series-elastic actuator: Implications for prosthetic knee
design. The International Journal of Robotics Research ,
33, 16111625.
https://doi.org/10.1177/0278364914545673

Clutchable series-elastic actuator

The stiffness of the series elasticity was tuned

to match the elastically conservative region of
the knees torque-angle relationship during
the stance phase of locomotion. During this
region, the clutch was used to efficiently store
energy in the series elasticity.

Review of Actuators with Passive

Adjustable Compliance/Controllable
Stiffness for Robotic Applications

Picture of AMASC and (b) schematic

overview of AMASC

Antagonistic setup of two PPAM.

Pneumatic

Variation of moment of inertia by

rotating the beam

(a) Laminated structure and (b) deformation.

Conceptual design of mechanical

impedance adjuster.

Conceptual design of
rotational mechanical
compliance adjuster.

Ham, R., Sugar, T., Vanderborght, B., Hollander, K., & Lefeber, D.
(2009). Compliant actuator designs. IEEE Robotics & Automation
Magazine, 16(3), 8194.
https://doi.org/10.1109/MRA.2009.933629

SPARKy

Holgate, M. A., Hitt, J. K., Bellman, R. D., Sugar, T. G., & Hollander, K. W. (2008). The
SPARKy (spring ankle with regenerative kinetics) project: Choosing a DC motor
based actuation method. Proceedings of the 2nd Biennial IEEE/RAS-EMBS
International Conference on Biomedical Robotics and Biomechatronics, BioRob
2008, 163168. https://doi.org/10.1109/BIOROB.2008.4762888

Bellman, R. D., Holgate, M. A., & Sugar, T. G. (2008). SPARKy 3: Design of an active robotic ankle
prosthesis with two actuated degrees of freedom using regenerative kinetics. Proceedings of the
2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and

Netherland SEA

http://projectmarch.nl/en/news/media

icanrobotics SEA

Series Elastic Actuators (SEA) head: The module can be mounted on

the MAXON motors with GP42 series gears and the like. A monolithic
torsion spring (about 270 Nm/rad), obtained by WEDM of a maraging
steel block, is spliced in a stiff Al-alloy frame, through a coupling with
P3G polygon profile. The head incorporates mechanical stops for
overload protection, two 15-bit absolute encoders, respectively
connected upstream and downstream of the spring, through precision
gears with 1:2 ratio to improve the resolution of the torque reading
(0.2% full scale), a space-saving hypoid gear (reduction ratio: 15:1)
with a maximum backlash of 1.8deg. The head is capable of delivering
a peak torque of 60 Nm.
SEA actuators: the SEA head mounted on the MAXON motors with
http://main.icanrobotics.com/products/roboticgears of
the series GP42.

components/

http://imgur.com/a/YxNW4