@inproceedings{093e7397f6c5415a8583559edaaf5722,
title = "Design of a Compliant Joint Based on Antagonistic-Driven Torsion Springs",
abstract = "This paper proposes a novel series elastic actuator (SEA) based on torsion springs with antagonistic structure intended for human-robot interaction. Different from the traditional compliant joints constructed with torsion spring, the proposed novel SEA utilizes two torsion spring modules to construct the antagonistic structure for alleviating the empty return journey. The expression that depicts the relationship between the design parameters and stiffness of torsion spring is derived, which is conducive to designing proper torsion spring for a desired stiffness. Finally, experiments are conducted to verify the effectiveness of the proposed SEA for a friendly human-robot interaction.",
keywords = "Antagonistic structure, Series elastic actuator, Torsion spring",
author = "Yifan Liu and Yinghao Ning and Hailin Huang and Xiaojun Yang and Zhisen Li and Bing Li and Fujun Peng and Aiguo Wu",
note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021 ; Conference date: 22-10-2021 Through 25-10-2021",
year = "2021",
doi = "10.1007/978-3-030-89134-3\_57",
language = "英语",
isbn = "9783030891336",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "622--630",
editor = "Xin-Jun Liu and Zhenguo Nie and Jingjun Yu and Fugui Xie and Rui Song",
booktitle = "Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings",
address = "德国",
}