一种新型弹性驱动器，兼顾高扭矩与精准力控，用于自行车模拟器的倾斜控制。
Series-Parallel Integrated Nonlinear Elastic Actuator applied to the lean motion of a bicycle simulator
- 用单个非线性弹性元件同时实现串联与并联弹性功能，结构紧凑。
- 在固定框架下可稳定控制至4.25 Hz，骑行时仍达4 Hz，力控精度高。
- 适合需要高扭矩、小体积和精确力反馈的交互式机器人系统。
设计高扭矩、高保真触觉交互的机器人极具挑战。并联弹性驱动器（PEA）通过并联弹性元件增强电机扭矩，串联弹性驱动器（SEA）通过串联弹性元件解耦电机阻抗，提升力控性能。现有融合方案需独立弹性元件或离合装置。本文提出系列-并联集成非线性弹性驱动器（SPINEA），通过非线性传动使电机与负载轴线错位并弹性连接，使单一弹性元件同时承担串联与并联双重作用。该结构实现高峰值扭矩与精确力矩跟踪。我们将SPINEA应用于触觉自行车模拟器的倾斜驱动，该任务要求大转矩与精准力渲染以保障骑行安全与真实感。研制原型并进行外部激励与骑行动态实验，结果表明其低阻抗特性及精确力控能力：在固定车架下可达4.25 Hz，在骑行状态下仍稳定至4 Hz。该技术优势可推广至其他对紧凑性与高性能驱动有需求的应用场景。
原文摘要 · Abstract (English)
Designing robots for high-torque, high-fidelity haptic interaction is challenging. Parallel Elastic Actuators (PEAs) use elastic elements in parallel to smaller motors to complement torques, and Series Elastic Actuators (SEAs) use elastic elements in series to decouple motor impedance and improve force control. Recent work combines SEAs and PEAs to obtain both benefits but requires separate elastic elements or clutching. This paper presents the Series Parallel Integrated Nonlinear Elastic Actuator (SPINEA), which merges SEA and PEA such that a single elastic element takes on dual roles simultaneously, parallel and series. This is achieved by a nonlinear transmission in which the motor and load have misaligned rotation axes and are elastically connected. This geometry enables both high peak torque and precise torque tracking. We apply SPINEA to actuate lean of a haptic bicycle simulator, which requires high moments and precise rendering for safe and realistic rider interactions. We realized a prototype and performed experiments, both with an external excitation setup and with riders cycling. Our results confirm SPINEA's low impedance and precise torque tracking, up to 4.25 Hz with the bicycle frame fixed and up to 4 Hz with riders. The benefits may transfer to other applications requiring compact, high-performance actuation.
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