Parallel Elastic Actuator

Parallel elastic actuators (PEAs) integrate springs with traditional actuators to enhance robot performance by improving energy efficiency and force output. Current research focuses on optimizing PEA design, particularly through advanced modeling techniques like inhomogeneous Cosserat rod theory and employing machine learning for co-optimizing actuator parameters and control strategies. This work is significant because it addresses limitations of traditional PEAs, such as restricted operational ranges, leading to improved robot locomotion, dexterity, and expressive capabilities in applications ranging from industrial robots to soft robotics.