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Series elastic actuators (SEAs) are growingly important in physicalhuman-robot interaction (HRI) due to their inherent safety and compliance.Cable-driven SEAs also allow flexible installation and remote torquetransmission, etc. However, there are still challenges for the impedancecontrol of cable-driven SEAs, such as the reduced bandwidth caused by theelastic component, and the performance balance between reference tracking androbustness. In this paper, a velocity sourced cable-driven SEA has been set up.Then, a stabilizing 2 degrees of freedom (2-DOF) control approach was designedto separately pursue the goals of robustness and torque tracking. Further, theimpedance control structure for human-robot interaction was designed andimplemented with a torque compensator. Both simulation and practicalexperiments have validated the efficacy of the 2-DOF method for the control ofcable-driven SEAs.

Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure