Serieelastisk

Serieelastisk is a term used in robotics and biomechanics to describe a mechanical system where an elastic element is placed in series with a rigid actuator, such as a motor. This configuration allows the system to exhibit compliant behavior, meaning it can absorb and release energy, much like a spring. In a series elastic actuator (SEA), the elastic element is typically a spring, and its deformation is measured. This deformation is then used to infer the force being exerted by the actuator.

The primary advantage of using series elasticity is to improve safety and performance in applications where interaction with the environment or humans is involved. The elastic element acts as a shock absorber, protecting both the actuator and the environment from sudden impacts or excessive forces. This compliance can also enhance performance by allowing the system to absorb energy during dynamic movements, potentially improving efficiency and reducing peak power demands. SEAs are often employed in robotic manipulators, prosthetic limbs, and exoskeletons, where controlled and safe force exertion is crucial. The implementation of SEAs requires careful design and control strategies to manage the spring's properties and ensure accurate force control.