Research Article
Adaptive Neural Network Control of Serial Variable Stiffness Actuators
Table 1
SVSA parameter specifications.
| | Description | Symbol (unit) | Value |
| | Output link inertia | (kg⋅m2) | 0.0063 | | Motor M1 + gearbox + intermediate inertia | (kg⋅m2) | 0.0134 | | Motor M2 + gearbox + ASRM inertia | (kg⋅m2) | 0.0110 | | Output link damping | (N⋅ms/rad) | | | Motor M1 damping | (N⋅ms/rad) | | | Motor M2 damping | (N⋅ms/rad) | | | Inherent spring stiffness | Ks (N/m) | 3764.5 | | Radius (mm) | (m) | 0.05 | | Range of motion | (deg.) | 0–360 | | Range of deflection angle | (deg.) | 0–30 | | Range of stiffness | (N⋅m/rad) | 1.7–150.5 |
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