This paper focuses on the design, modeling, and control of a novel remote actuation, including a compact rotary series elastic actuator (SEA) and Bowden cable. This kind of remote actuation is used for an upper limb rehabilitation robot (ULRR) with four powered degrees of freedom (DOFs). The SEA mainly consists of a DC motor with planetary gearheads, inner/outer sleeves, and eight linearly translational springs. The key innovations include (1) an encoder for direct spring displacement measurement, which can be used to calculate the output torque of SEA equivalently, (2) the embedded springs can absorb the negative impact of backlash on SEA control performance, (3) and the Bowden cable enables long-distance actuation and reduces the bulky structure on the robotic joint. In modeling of this actuation, the SEA's stiffness coefficient, the dynamics of the SEA, and the force transmission of the Bowden cable are considered for computing the inputs on each powered joint of the robot. Then, both torque and impedance controllers consisting of proportional-derivative (PD) feedback, disturbance observer (DOB), and feedforward compensation terms are developed. Simulation and experimental results verify the performance of these controllers. The preliminary results show that this new kind of actuation can not only implement stable and friendly actuation over a long distance but also be customized to meet the requirements of other robotic system design.

本文着重于新型远程执行器的设计，建模和控制，包括紧凑型旋转串联弹性执行器（SEA）和Bowden电缆。这种远程致动用于具有四个动力自由度（DOF）的上肢康复机器人（ULRR）。SEA主要由带有行星齿轮箱，内/外套筒和八个线性平移弹簧的直流电动机组成。关键的创新包括（1）用于直接弹簧位移测量的编码器，可用于等效地计算SEA的输出扭矩；（2）嵌入式弹簧可以吸收反冲对SEA控制性能的负面影响；（3）和Bowden电缆可实现远距离驱动，并减小了机器人关节上的笨重结构。在对这种驱动进行建模时，SEA的刚度系数 考虑SEA的动力学特性以及Bowden电缆的力传递来计算机器人每个动力关节上的输入。然后，开发了由比例微分（PD）反馈，扰动观测器（DOB）和前馈补偿项组成的转矩和阻抗控制器。仿真和实验结果验证了这些控制器的性能。初步结果表明，这种新型致动装置不仅可以实现长距离稳定，友好的致动，而且可以根据其他机器人系统设计的要求进行定制。开发了干扰观测器（DOB）和前馈补偿项。仿真和实验结果验证了这些控制器的性能。初步结果表明，这种新型致动装置不仅可以实现长距离稳定，友好的致动，而且可以根据其他机器人系统设计的要求进行定制。开发了干扰观测器（DOB）和前馈补偿项。仿真和实验结果验证了这些控制器的性能。初步结果表明，这种新型致动装置不仅可以实现长距离稳定，友好的致动，而且可以根据其他机器人系统设计的要求进行定制。