This paper presents a novel series-elastic actuator (SEA) design that uses a spiral torsion spring to achieve drivetrain compliance in a compact and efficient mechanism. The SEA utilizes electromechanical actuation and is designed for use in the experimental biped robot KURMET for investigating dynamic maneuvers. Similar to helical torsion springs, spiral torsion springs are particularly applicable for legged robots because they preserve the rotational motion inherent in electric motors and articulated leg joints, but with less drivetrain backlash and unwanted coil interaction under load than helical torsion springs. The general spiral torsion spring design equations are presented in a form convenient for robot design, along with a detailed discussion of the mechanism surrounding the spring. Also, the SEA mechanism has a set of unidirectional hardstops that further improves the position control by allowing series-elasticity in only one rotational direction.
Robust position control of a novel series elastic actuator via disturbance observer
