Abstract
Nowadays, robotics focused towards an interdisciplinary cooperation with other scientific fields, with the main goal of submitting solutions to improve the human life quality. This new orientation required the development of subsystems that differ from the common robotic components and match the new applications requisites. One of these preoccupations envisages the analysis and design of high performance actuators. The paper deals in this way with specific aspects characterizing the analysis and modelling of actuators with a serial elastic element.
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