Elastic actuator for precise force control

  • US 5,650,704 A
  • Filed: 06/29/1995
  • Issued: 07/22/1997
  • Est. Priority Date: 06/29/1995
  • Status: Expired due to Term
First Claim
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1. An elastic actuator having gone control, the actuator comprising:

  • a motor;

    a motor drive transmission connected at an output of the motor;

    at least one elastic element connected in series with the motor drive transmission, the at least one elastic element positioned to fully support along either direction of an actuation axis, a load connected at at least one output of the actuator, as the load is actuated along either direction of the actuation axis,a single force transducer positioned at a point between a mount for the motor and at least one output of the actuator, the force transducer generating a force signal indicating force applied by the elastic element to at least one output of the actuator; and

    an active feedback force controller connected between the force transducer and the motor for controlling the motor, based on the force signal, to deflect the elastic element an amount that produces a desired actuator output force, the output force being substantially independent of load motion.

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