An experimental study on energy-based control of rigid parallel series elastic actuator

Ujjal Krishnanand Mavinkurve, Seyed Amir Tafrishi, Ayato Kanada, Koki Honda, Yasutaka Nakashima, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Parallel elastic actuators (PEA) find a growing interest in many research areas ranging from rehabilitation devices to industrial robots on account of their ability to save energy as well as providing passive impact absorption. PEAs are actuators with elements of compliance, such as springs connected in parallel between the actuator and the load. The majority of these PEA mechanisms rely on clutches that require a high amount of power in a short amount of time. Furthermore, these PEA can only switch between a state of complete rigidity to constant stiffness. We consider the emerging design of rigid parallel series elastic actuators (RPSEA) which, in addition to the advantages provided by parallel elastic actuators, uses a motor instead of a clutch-based mechanism to manipulate the stiffness. We develop an experimental setup of the RPSEA and compare an Energy-based control method with a conventional PID control. The response of the two controllers is evaluated under disturbance and presented in this paper.

Original languageEnglish
Title of host publication2021 World Automation Congress, WAC 2021
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781685241117
Publication statusPublished - Aug 1 2021
Event2021 World Automation Congress, WAC 2021 - Virtual, Taipei, Taiwan, Province of China
Duration: Aug 1 2021Aug 5 2021

Publication series

NameWorld Automation Congress Proceedings
ISSN (Print)2154-4824
ISSN (Electronic)2154-4832


Conference2021 World Automation Congress, WAC 2021
Country/TerritoryTaiwan, Province of China
CityVirtual, Taipei

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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