[2016] Humanoids Elbow Design with a Tendon Driven SEA

2016, Robotics and Mechanism Laboratory, UCLA

As an extension of the study of the resistance mechanism using a series elastic actuator (SEA), I designed a humanoid elbow with a tendon driven SEA. The elbow was designed to have a lightweight structure by using a carbon fiber bones and steel wire tendon. The video presents a zero torque control mode of the elbow.