Lightweight compliant manipulators
Design
in collaboration with Jeff Weber
¥6
DOF
¥Cable
drive
¥Series
Elastic Actuators
¥Force
and angle sensing
¥1KHz DSP
control
¥2.2
kg
¥Intrinsic
safety
¥2
kg payload
Cable routing
Controllers for:
¥Joint
Force
¥Gravity
compensation
¥Joint
Angle
¥Virtual
spring
¥Inverse
kinematics