Research paper
Design and Experimental Validation of a 3D Printed Torsional Series Elastic Actuator for Safe Human Robot Interaction
A low-stiffness TPU torsional spring provides mechanical compliance, paired with torque-threshold switching in a position controller. Finite-element and bench experiments examine deformation and disturbance response. Material variability, ageing and application contact loads remain relevant before treating the design as a protective measure.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Design and Experimental Validation of a 3D Printed Torsional Series Elastic Actuator for Safe Human Robot Interaction
- Publisher
- arXiv
- Authors
- Pisco, Joel Hidalgo, Condo, Melissa Cobos, Miranda, Luigi, Paillacho, Dennys
- DOI
- 10.48550/arxiv.2609.19367
- First archive posting
- 2026-09-16
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
A low-stiffness TPU torsional spring provides mechanical compliance, paired with torque-threshold switching in a position controller. Finite-element and bench experiments examine deformation and disturbance response. Material variability, ageing and application contact loads remain relevant before treating the design as a protective measure.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Design and Experimental Validation of a 3D Printed Torsional Series Elastic Actuator for Safe Human Robot Interaction ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2026-09-16, abstract reviewed in v1. Publisher dates are separate.