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Author

N. Tsagarakis

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Conference Open access Jul 2026

A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby...

Jingcheng Jiang, Yifang Zhang, N. Tsagarakis · 0 citations

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