Customized Series Elastic Actuator for a Safe and Compliant Human-Robot Interaction: Design and Characterization.

When it comes to robotic-mediated rehabilitation it is mandatory to design a system that guarantees a safe and compliant human-machine interaction. Dealing with rehabilitative upper limb exoskeletons, Series Elastic Actuators offer a potential solution for this purpose. This work proposes four different solutions for SEAs' spring design.