Table 2 Response time with different springs
From: A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System
Springs | Elastic constant k (N/m) | Extended length \( \Delta x\) (mm) | Calculated time (ms) | Measured time (ms) | Error (%) | |
|---|---|---|---|---|---|---|
Spring1 | 580 | 44.0 | 346 | 228 | − 34.1 | |
Spring2 | 1840 | 13.9 | 109 | 152 | 39.4 | |
Spring3 | 2230 | 11.4 | 89 | 119 | 33.7 | |
Spring4 | 3200 | 8.0 | 63 | 86 | 36.5 |