A novel selective compliant actuator

A novel design for a selective compliant actuator is described that can easily control the external force or stiffness applied to an object. Our design solution consists of a spring attached in series to a linear actuator driven by a DC servomotor. In the design methodology, the plant is altered to achieve the best possible mechanical design and control solution. The actuator can be used in many applications and it has been used in robotics applying forces to insure grasp stability. The actuator can easily interact with an unstructured environment and does not have any instability when it contacts an object.

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