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Citations since 2017
5 Research Items
Elastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present a stiffness-fault-tolerant control strategy for complex elastic actuators, capable of adapting to changes in output stiffness...
Elastic actuators are popular in human-robot interaction as they can improve human safety and efficiency. Yet, such actuators are more complex than rigid ones and might be subject to additional technical faults, e.g., stiffness changes. This paper extends previous studies on stiffness-fault-tolerant physical human-robot interaction (pHRI) through c...
By integration of elastic components to robotic actuation, the overall system complexity increase and systems are potentially operated in critical states, e.g., (anti)resonances. To handle faults that might emerge from this, the DFG-supported project ‘Fault Diagnosis and Tolerance for Elastic Actuation Systems’ aims at tackling faults in elastically actuated systems by fault diagnosis and fault-tolerant design. For deeper understanding of faults in elastic actuation, structured analysis methods are used and fault diagnosis algorithms as well as tolerance measures are examined in simulations and experiments.