Building a physically interactive robot requires a responsible design with safety as a primary goal. Ideally, actuators used in exoskeleton designs should solve for compliancy first. These can be achieved passive by means of elastic elements that give intrinsic hardware compliancy to the actuated mechanisms or active by integrating sensors that make stiff actuators torque controllable in software, or by a mixture of both strategies.
Are you considering to use compliant actuators? what are the specs requirements for your application? What are the challenges you have to solve?
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