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→Series Elastic and Quasi-Direct Drive Actuators
Some things to consider:
The springs in SEAs are where the magic happens. Choosing the right stiffness is a balancing act between getting precise torque control and avoiding sluggish responses. Finding that sweet spot is key.
Calibration is your best buddy. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep those movements smooth and predictable.