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In current designs clutches can fix or release the neutral position of the elasticity. The presented actuator combines a direct actuator with a serial-elastic actuator (SEA) in parallel. In addition to the efficiency advantages of a PEA, both actuators can also actively cooperate or actively control the neutral position of the elasticity. On the test bench, the prototype is operated as a PEA with a load similar to the hip during gait, whereby a reduction in peak power of 19\u2009% is found. Furthermore the SEA can support 31\u2009% of the torque during a task similar to sit-to-stand.<\/jats:p>","DOI":"10.1515\/auto-2020-0008","type":"journal-article","created":{"date-parts":[[2020,6,2]],"date-time":"2020-06-02T08:48:35Z","timestamp":1591087715000},"page":"410-422","source":"Crossref","is-referenced-by-count":7,"title":["Conceptual design, modeling and control of a rigid parallel serial-elastic actuator"],"prefix":"10.1515","volume":"68","author":[{"given":"Bernhard","family":"Penzlin","sequence":"first","affiliation":[{"name":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"}]},{"given":"Anja","family":"Leipnitz","sequence":"additional","affiliation":[{"name":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"}]},{"given":"Lukas","family":"Bergmann","sequence":"additional","affiliation":[{"name":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"}]},{"given":"Yinbo","family":"Li","sequence":"additional","affiliation":[{"name":"Institute of Mechanical Design, Department of Mechanical Engineering , Tsinghua University , Shuangqing Road 30 , Beijing , China"}]},{"given":"Linhong","family":"Ji","sequence":"additional","affiliation":[{"name":"Institute of Mechanical Design, Department of Mechanical Engineering , Tsinghua University , Shuangqing Road 30 , Beijing , China"}]},{"given":"Steffen","family":"Leonhardt","sequence":"additional","affiliation":[{"name":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"}]},{"given":"Chuong","family":"Ngo","sequence":"additional","affiliation":[{"name":"Lehrstuhl f\u00fcr Medizinische Informationstechnik , RWTH Aachen , Pauwelsstr. 20 , Aachen , Germany"}]}],"member":"374","published-online":{"date-parts":[[2020,6,2]]},"reference":[{"key":"2023033110051063623_j_auto-2020-0008_ref_001_w2aab3b7c80b1b6b1ab2ab1Aa","doi-asserted-by":"crossref","unstructured":"T. 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