|Title:||A Nonlinear Series Elastic Actuator for Highly Dynamic Motions|
|Inventors:||Ivar Thorson, Gianluca Pane|
|Patent Number:||TO2011A000848, US 13/623174|
|Assignee:||Fondazione Istituto Italiano di Tecnologia|
|Technology Field:||September 23, 2011|
A novel revolute actuator transmission designed for force control applications. The actuator uses a hypocycloid mechanism to stretch a linear spring in a nonlinear way; it has extremely low mechanical impedance, low friction, excellent mechanical efficiency, and high energy storage capabilities relative to its size. The accurate, compact torque control actuation systems and the power-to-weight ratio make this actuator unmatched on the market.