6. Glossary

Actionneurs sériels élastiques (ASE); Series Elastic Actuators (SEA)

An elastic serial actuator is an actuation system in which a compliant element is placed in series with the actuator output. The addition of this serial elasticity improves force resolution, stability control and impact tolerance. However, this additional flexibility leads to a reduction in control bandwidth.

Câble Bowden ; Bowden cable

A flexible motion transmission system invented in 1902 by Frank Bowden of the Raleigh Bicycle Company. It consists of a flexible cable, usually twisted steel, sliding in a flexible sheath, which can transmit a tensile force relative to the end of the sheath.

Interface haptique; Haptic interface

A haptic interface is a physical, mechanical or robotic system that enables...