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