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    SIMPAR
    2010
    150views Robotics» more  SIMPAR 2010»
    Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control
    13 years 3 months ago
    Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control
    Download  www.sim.tu-darmstadt.de
    This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introdu...
    Thomas Lens, Jürgen Kunz, Oskar von Stryk
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    IROS
    2007
    IEEE
    126views Robotics» more  IROS 2007»
    Passive and accurate torque control of series elastic actuators
    13 years 11 months ago
    Passive and accurate torque control of series elastic actuators
    Download  www.lsr.ei.tum.de
    — The principle of Series Elastic Actuation offers considerable advantages for haptic displays compared to stiff actuators. The interaction force between motor and load is direct...
    Heike Vallery, Ralf Ekkelenkamp, Herman van der Ko...
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