SERIES ELASTIC ACTUATOR DEVICE, SERIES ELASTIC ACTUATOR CONTROL METHOD, AND SYSTEM USING SAME
FIG6 is a diagram for illustrating an embodiment of the configuration and operation of a sensor part provided in the SEA
Referring to FIG6, in order to measure relative displacement (Δθ) between the motor-side rotation unit 100 and the load-side rotation unit 200, such as that described above, the magnetic body 400 for generating a magnetic field may be positioned in the motor-side rotation unit 100 and the hall sensor 410 may be positioned at a location of the load-side rotation unit 200 that faces the magnetic body 400.
diagram
710
bearing
100
motor-side rotation unit
400
magnetic body
320
elastic members elastic member
720
decelerator
730
decelerator fixing stage
410
hall sensor
200
load-side rotation unit
700
driving motor
['1. A series elastic actuator, comprising: a motor-side rotation unit coupled to a driving motor and rotated by rotatory power of the driving motor; a load-side rotation unit coupled to the motor-side rotation unit to transfer the rotatory power of the driving motor to a load; and at least one pair of elastic members provided in spaces between the motor-side rotation unit and the load-side rotation unit, wherein a frame having accommodation spaces to which the pair of elastic members is fixed is formed in any one of the motor-side rotation unit and the load-side rotation unit.', '7. The series elastic actuator of claim 6, wherein the sensor part comprises a magnetic body and a hall sensor respectively positioned at corresponding positions of the motor-side rotation unit and the load-side rotation unit.']