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|Title:||Series damper actuator: A novel force/torque control actuator||Authors:||Chew, C.-M.
Force/torque control actuator
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||URI:||http://scholarbank.nus.edu.sg/handle/10635/73839||ISBN:||0780388631|
|Appears in Collections:||Staff Publications|
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