In this study, we developed an FSEA(Force-sensing Series Elastic Actuator) composed of a spring and an actuator has been developed to compensate for external disturbance forced. The FSEA has a simple structure in which the spring and the actuator are connected in series, and the external force can be easily measured through the displacement of the spring. And the characteristic of the spring absorbs the shock to the small disturbance and increases the sense of stability. It is designed and constructed to control the stiffness of such springs more flexibly according to the situation. The conventional FSEA uses a fixed stiffness spring and the actuator is not compensated properly when it receives large or small external force. Through this experiment, it is confirmed that FSEA compensates the external force through the proposed algorithm that the variable stiffness compensates well for large and small external forces.

Abstract
 1. 서 론
 2. 직렬 탄성 액추에이터 모델링
  2.1 직렬 탄성 액추에이터
  2.2 종류
  2.3 직렬 탄성 액추에이터 설계
  2.4 모델링
 3. 구조 설계 및 제어기 설계
  3.1 직렬 탄성 액추에이터 구동
  3.2 가변 강성 구조 설계
  3.3 제어기 설계
 4. 실험 및 결과
 5. 결 론
 References

• 방진욱(Pusan National University) | Jinuk Bang
• 최민식(Pusan National University) | Minsik Choi
• 이동형(Pusan National University) | Donghyung Lee
• 박정호(Pusan National University) | Jungho Park
• 박은재(Pusan National University) | Eunjae Park
• 이근일(Pusan National University) | Geunil Lee
• 이장명(Pusan National University) | Jangmyung Lee Corresponding author