Optimal Design of Parallel Elastic Actuator (PEA) with Spiral Spring for Wire-Tension Control

Abstract

This study proposes a novel actuator that can generate desired tension by torque control to provide necessary load for physical exercise. In order to reduce the required torque level of the motor, a spring is incorporated in this actuator design such that the torque (and thus tension) can be generated not only by the motor but also from the spring.