English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Series Elastic Actuation (SEA) has become prevalent in applications involvingphysical human-robot interaction as it provides considerable advantages overtraditional stiff actuators in terms of stability robustness and fidelity offorce control. Several impedance control architectures have been proposed forSEA. Among these alternatives, the cascaded controller with an inner-mostvelocity loop, an intermediate torque loop and an outer-most impedance loop isparticularly favoured for its simplicity, robustness, and performance. In thispaper, we derive the \emph{necessary and sufficient conditions} to ensure thepassivity of this cascade-controller architecture for rendering two most commonvirtual impedance models. Based on the newly established passivity conditions,we provide non-conservative design guidelines to haptically display a nullimpedance and a pure spring while ensuring the passivity of interaction. Wealso demonstrate the importance of including physical damping in the actuatormodel during derivation of passivity conditions, when integral controllers areutilized. In particular, we show the adversary effect of physical damping onsystem passivity.

Necessary and Sufficient Conditions for Passivity of Velocity-Sourced Impedance Control of Series Elastic Actuators