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Title: Series damper actuator: A novel force/torque control actuator
Authors: Chew, C.-M. 
Hong, G.-S. 
Zhou, W.
Keywords: Actuation
Force/torque control actuator
Impedance Control
MR fluid damper
Series Elastic Actuator
Issue Date: 2004
Citation: Chew, C.-M.,Hong, G.-S.,Zhou, W. (2004). Series damper actuator: A novel force/torque control actuator. 2004 4th IEEE-RAS International Conference on Humanoid Robots 2 : 533-546. ScholarBank@NUS Repository.
Abstract: A novel force/torque control actuator called Series Damper Actuator (SDA) is proposed, modeled and analyzed. Compared to conventional force/torque control schemes and Series Elastic Actuator (SEA), SDA has good output force/torque fidelity, low output impedance and large force/torque range. Furthermore, varying damping coefficient endows the SDA with more advantages and makes the system more versatile. An experimental SDA system is developed, in which a Magneto-Rheological (MR) fluid damper is employed as the series damper. The experimental results show that SDA system is an effective force/torque control actuator. © 2004 IEEE.
Source Title: 2004 4th IEEE-RAS International Conference on Humanoid Robots
ISBN: 0780388631
Appears in Collections:Staff Publications

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