Research paper
Series elasticity for shock tolerance and force control
A passive spring in series with actuation reduces reflected inertia and improves shock tolerance and force control at a cost in zero-motion force bandwidth. The original conference abstract reports tests of a revolute actuator intended for Cog arms and a small rover.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Series elastic actuators
- Publisher
- IEEE Comput. Soc. Press
- Authors
- Gill A. Pratt, Matthew M. Williamson
- DOI
- 10.1109/iros.1995.525827
- Conference date
- 1995
- Source language
- en
- Source country
- US
- Edition
- Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
A passive spring in series with actuation reduces reflected inertia and improves shock tolerance and force control at a cost in zero-motion force bandwidth. The original conference abstract reports tests of a revolute actuator intended for Cog arms and a small rover.
Use and review
Contact results apply to the described mechanism, controller and test conditions. They do not establish universal human injury thresholds or a certified protective function.
Sources & editions
Series elastic actuators ↗
IEEE Comput. Soc. Press · Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
Primary MIT-hosted original two-author conference first-page title/authors/abstract and1995copyright checked; distinct from single-author same-title thesis/report.