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Within the scope of the paper, electromechanical and thermodynamic models arederived for a series elastic actuator and open loop and closed loop torquebandwidth parameters are analysed considering the thermodynamic behaviour ofthe actuator. It was observed that the closed loop torque bandwidth of theelectromechanical subsystem of the actuator was not accessible in the entiretorque reference amplitude range due to thermodynamic limitations. Therefore, astator winding temperature estimation based adaptive controller is utilised andanalysed to improve the accessibility of the controller based torque bandwidth.This paper implements the methodology on a HEBI Robotics X5-9 actuator as acase study.

Accessible Torque Bandwidth of a Series Elastic Actuator Considering the Thermodynamic Limitations