Series Elastic Actuator Design with Spiral Torsion Spring

Precision Series Elastic Actuator (SEA) module integrating a high-density brushless motor, harmonic drive reducer, and planar spiral torsion spring for humanoid robot leg and arm compliance.

Key Specifications & Features:
- Actuator Topology: Unidirectional Series Elastic Actuator (SEA) with custom spiral torsion spring
- Output Torque: High peak torque density with dynamic impact buffering and shock tolerance
- Sensing: High-resolution dual absolute encoders (motor side and output link side)
- Applications: Humanoid robot knee joints, hip pitch/roll, ankle flexion, and quadruped robotic legs

For complete technical specifications, mathematical stiffness modeling, and compliance validation:
https://humanoidjoint.com/blog/a-unidirectional-series-elastic-actuator-design-using-a-spiral-torsion-spring