Series elastic actuators (SEA) have been widely applied to bipedal robots and orthotic/ prosthetic devices since its first introduction to robotics world. Comparing to conventional ‘stiff’ actuation, SEA has the advantages in terms of low output impedance, high force fidelity, and energy storing capability. For portable rehabilitation devices such as exoskeletons, the demand on highly efficient and lightweight actuation imposes great challenge. The purpose of this paper is to discuss the possible way of choosing components and optimizing the design for a series elastic actuator so that we can achieve a better design in terms of efficiency maximization and weight/size reduction.

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