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A Second Torque Port for Series Elastic Actuators: Parallel-Integrated Design and Time-Scale Torque Allocation
A series elastic actuator has a single torque port and pays for it twice: the geared motor must swing its own reflected inertia through the spring, so the amplitude it delivers collapses as $ω^{-2}$ in the command frequency $ω$ once it saturates, while commands below the transmission's breakaway fri
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