An energy efficiency index for elastic actuators during resonant motion

Abstract The energetic advantages of series and parallel elastic actuators have been characterized in the literature considering different systems tasks. These characterizations usually determine energy consumption a specific system during task generalize poorly. This paper proposes an characterization actuators, following analytical approach, rather than data-driven one. In particular, this work analyzes resonant motion introduces novel efficiency index. index characterizes as function inherent actuator parameters only, generalizing over proposed analysis is validated using simulations experiments, demonstrating its coherence with results.