Design & modeling of a novel multi-functional elastic actuator (MFEA)

Series elastic actuators (SEAs) are commonly used in rehabilitation devices and biped robots to satisfy constraints in terms of safety, impact tolerance, energy storing, and force controllability. This paper discusses the novel design of a multifunctional elastic actuator (MFEA). Our design has several modes with different compliance functionalities (linear and nonlinear force-deflection profiles) and deflection ranges and in comparison with other existing series elastic actuators has less friction, more available deflection range, more potential for compactness, and is easier to fabricate. To validate the applicability of the presented design, a prototype is constructed. The experimental results on this constructed prototype supports our mathematical claims in practice.