Series Elastic Actuator

Series Elastic Actuators (SEAs) are robotic joint mechanisms incorporating a spring in series with the motor, enhancing safety, energy efficiency, and adaptability to unexpected disturbances. Current research emphasizes improving SEA control algorithms, including model-based approaches like disturbance observers and model-free techniques such as deep reinforcement learning, to achieve precise force and position control across diverse applications. This focus on robust and adaptable control strategies is driven by the growing need for safe and effective human-robot interaction and the development of dynamic robots for applications ranging from assistive devices to legged locomotion.