IEEE Robotics & Automation Magazine - June 2022 - 94

Experiments: A Prismatic SEA With a Soft Spring
For further assess performance, we conducted additional
experiments on a prismatic SEA unit that was similar to the
actuator reported in [28]. The main difference of this SEA
unit was the spring stiffness, it had a comparatively soft spring
setting: 29.5 (N/cm). Sine wave input tracking results are plotted
in Figure 10. The input frequency was 2 Hz, and the peakto-peak
amplitude was 25 N. As a result, favorable force
tracking performances were observed for all five controllers,
despite a brief transient period of underperformance until the
environmental contact was established.
In general, all five controllers exhibited similar tracking
performances. The bandwidths of cascaded PID, cascaded
PID+DOB, FF+PID+DOB, SMC+DOB, and DF+DOB were
2.6, 2.4, 2.75, 2.5, and 2.45 Hz, respectively. Force control
14
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28
-7
7
01 23 45
Time (s)
(a)
14
21
28
-7
7
01 23 45
Time (s)
(c)
14
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7
01 23 45
Time (s)
(e)
Reference
Response
Figure 10. Experiment results of sine wave input tracking at 2 Hz on prismatic SEA unit. (a) cascaded PID, (b) cascaded PID+DOB,
(c) FF+PID+DOB, (d) SMC+DOB, and (e) DF+DOB.
94 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2022
14
21
28
-7
7
01 23 45
Time (s)
(d)
performances were degraded since tracking within the presence
of a soft spring appears to be more challenging. Despite
the performance degradation, similar qualitative performances
were obtained, and the results were reproduced on a completely
different hardware setup.
Discussion and Conclusion
In this article, we present an experimental benchmarking
study of five distinct controllers that are
computatio nally effective and can exhibit sufficient
torque-tracking performance for a torsion-based SEA
unit. Supported with a DOB, they are deemed to provide
satisfactory results as they can assume the role of
a low-level controller for a decentralized robot control
approach [20].
14
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28
-7
7
01 23 45
Time (s)
(b)
Force (N)
Force (N)
Force (N)
Force (N)
Force (N)

IEEE Robotics & Automation Magazine - June 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2022

Contents
IEEE Robotics & Automation Magazine - June 2022 - Cover1
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