@inproceedings{0736797df41f44a98ca60a20a914054f,
title = "High-Power and Precise Actuation System with Direct Drive and Variable Structured Elasticity",
abstract = "Variable-structured elastic actuator is researched as an actuator which enables high speed motion. In the conventional research, the actuation method has two periods. The first is charging period: elastic potential energy is charged by the geared motor with clutching. The second is releasing period: the clutch is disengaged and high-speed motion is attained in load side. However, it is difficult to attain the high-speed motion precisely because it is impossible to control the motion in the releasing period. This paper proposes an integrated actuation system which is composed of the elastic actuator and a direct-drive motor. The direct-drive motor is attached to the load side of the elastic actuator. Actuation method of the proposed actuator system also has two periods: charging period and releasing period. In the charging period, the actuator system stores potential energy like the conventional method. In the releasing period, the direct-drive motor controls the motion precisely while the clutch is disengaged. Performance of the proposed actuator system is compared with the conventional system through experiments.",
keywords = "clutched elastic actuator, elastic actuator, motion control",
author = "Yoshitaka Abe and Timur Almeev and Jingang Yi and Seiichiro Katsura",
note = "Funding Information: This work was partially supported by JSPS KAKENHI Grant Number 18H03784. Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Mechatronics, ICM 2019 ; Conference date: 18-03-2019 Through 20-03-2019",
year = "2019",
month = may,
day = "24",
doi = "10.1109/ICMECH.2019.8722861",
language = "English (US)",
series = "Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "396--401",
booktitle = "Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019",
address = "United States",
}