{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,23]],"date-time":"2025-06-23T15:07:08Z","timestamp":1750691228325,"version":"3.40.5"},"reference-count":40,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2024,2,5]],"date-time":"2024-02-05T00:00:00Z","timestamp":1707091200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human\u2013robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits the force and position control performance of the actuator system due to the induced oscillations and decreased mechanical bandwidth. To solve this problem, we first investigate the dynamic effects of implementing variable physical damping into a compliant actuator. Following this, we propose a structural scheme that integrates a variable damping element in parallel to a conventional series elastic actuator. A damping regulation algorithm is then developed for the parallel spring-damping actuator (PSDA) to tune the dynamic performance of the system while remaining sufficient compliance. Experimental results show that the PSDA offers better stability and dynamic capability in the force and position control by generating appropriate damping levels.<\/jats:p>","DOI":"10.1017\/s0263574724000110","type":"journal-article","created":{"date-parts":[[2024,2,5]],"date-time":"2024-02-05T07:15:44Z","timestamp":1707117344000},"page":"1113-1133","source":"Crossref","is-referenced-by-count":2,"title":["Design and control of a compliant robotic actuator with parallel spring-damping transmission"],"prefix":"10.1017","volume":"42","author":[{"given":"Peikang","family":"Yuan","sequence":"first","affiliation":[]},{"given":"Jianbin","family":"Liu","sequence":"additional","affiliation":[]},{"given":"David T.","family":"Branson","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3715-2003","authenticated-orcid":false,"given":"Zhibin","family":"Song","sequence":"additional","affiliation":[]},{"given":"Shuai","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Jian S.","family":"Dai","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5663-4481","authenticated-orcid":false,"given":"Rongjie","family":"Kang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,2,5]]},"reference":[{"key":"S0263574724000110_ref20","doi-asserted-by":"crossref","first-page":"448","DOI":"10.1017\/S0263574717000492","article-title":"Design and implementation of a variable stiffness actuator based on flexible gear rack mechanism","volume":"36","author":"Fu","year":"2018","journal-title":"Robotica"},{"key":"S0263574724000110_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2021.3138388"},{"key":"S0263574724000110_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.927689"},{"key":"S0263574724000110_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2906887"},{"key":"S0263574724000110_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2614503"},{"key":"S0263574724000110_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723000528"},{"key":"S0263574724000110_ref15","unstructured":"[15] Morrell, J. B. and Salisbury, J. K. , \u201cParallel Coupled Actuators for High Performance Force Control: A Micro-Macro Concept,\u201d Proceedings 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, vol. 1 (1995) pp. 391\u2013398."},{"key":"S0263574724000110_ref37","doi-asserted-by":"crossref","unstructured":"[37] Tsagarakis, N. G. , Laffranchi, M. , Vanderborght, B. and Caldwell, D. G. , \u201cA Compact Soft Actuator Unit for Small Scale Human Friendly Robots,\u201d IEEE International Conference on Robotics and Automation (2009) pp. 4356\u20134362.","DOI":"10.1109\/ROBOT.2009.5152496"},{"key":"S0263574724000110_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2482061"},{"key":"S0263574724000110_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2270435"},{"key":"S0263574724000110_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001519"},{"key":"S0263574724000110_ref36","doi-asserted-by":"publisher","DOI":"10.3390\/robotics12030080"},{"key":"S0263574724000110_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721001211"},{"key":"S0263574724000110_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.05.016"},{"key":"S0263574724000110_ref7","unstructured":"[7] Pratt, G. A. and Williamson, M. M. , \u201cSeries Elastic Actuators,\u201d Proceedings 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots (1995) pp. 399\u2013406."},{"key":"S0263574724000110_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2021.107883"},{"key":"S0263574724000110_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2501019"},{"key":"S0263574724000110_ref40","doi-asserted-by":"crossref","unstructured":"[40] Zhi, D. , Feng, Z. , Xu, W. , Kang, R. and Chen, L. , \u201cDesign and Control of a Variable Viscous Damping Actuator (Vvda) for Compliant Robotic Joints,\u201d2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2018) pp. 1876\u20131881.","DOI":"10.1109\/ROBIO.2018.8665039"},{"key":"S0263574724000110_ref34","doi-asserted-by":"publisher","DOI":"10.3390\/act11020044"},{"key":"S0263574724000110_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310938"},{"key":"S0263574724000110_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2019.101886"},{"key":"S0263574724000110_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"S0263574724000110_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.07.024"},{"key":"S0263574724000110_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.06.009"},{"key":"S0263574724000110_ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.1758255"},{"key":"S0263574724000110_ref32","doi-asserted-by":"crossref","unstructured":"[32] Laffranchi, M. , Tsagarakis, N. G. and Caldwell, D. G. , \u201cA Variable Physical Damping Actuator (Vpda) for Compliant Robotic Joints,\u201d IEEE International Conference on Robotics and Automation (2010) pp. 1668\u20131674.","DOI":"10.1109\/ROBOT.2010.5509971"},{"key":"S0263574724000110_ref24","unstructured":"[24] Hurst, J. , Rizzi, A. and Hobbelen, D. , \u201cSeries Elastic Actuation: Potential and Pitfalls,\u201d International Conference on Climbing and Walking Robots (2004)."},{"volume-title":"Control Systems Engineering","year":"2020","author":"Nise","key":"S0263574724000110_ref31"},{"key":"S0263574724000110_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2184293"},{"key":"S0263574724000110_ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2854742"},{"key":"S0263574724000110_ref35","doi-asserted-by":"publisher","DOI":"10.1016\/j.matpr.2022.04.104"},{"key":"S0263574724000110_ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2022.3156127"},{"key":"S0263574724000110_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3055364"},{"key":"S0263574724000110_ref27","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1017\/S0263574708004797","article-title":"Design of series damper actuator","volume":"27","author":"Chew","year":"2009","journal-title":"Robotica"},{"key":"S0263574724000110_ref30","doi-asserted-by":"publisher","DOI":"10.1177\/0959651813511615"},{"key":"S0263574724000110_ref38","doi-asserted-by":"crossref","unstructured":"[38] Bicchi, A. , Tonietti, G. , Bavaro, M. and Piccigallo, M. , \u201cVariable Stiffness Actuators for Fast and Safe Motion Control,\u201d Robotics Research. The Eleventh International Symposium (2005) pp. 527\u2013536.","DOI":"10.1007\/11008941_56"},{"key":"S0263574724000110_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.09.012"},{"key":"S0263574724000110_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3176094"},{"key":"S0263574724000110_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2012.08.007"},{"key":"S0263574724000110_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2022.3225660"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574724000110","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,4,5]],"date-time":"2024-04-05T10:21:09Z","timestamp":1712312469000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574724000110\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,5]]},"references-count":40,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["S0263574724000110"],"URL":"https:\/\/doi.org\/10.1017\/s0263574724000110","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2024,2,5]]}}}