Series-Parallel Integrated Nonlinear Elastic Actuator applied to the lean motion of a bicycle simulator

arXiv:2606.00201v1 Announce Type: new Abstract: Designing robots for high-torque, high-fidelity haptic interaction is challenging. Parallel Elastic Actuators (PEAs) use elastic elements in parallel to smaller motors to complement torques, and Series Elastic Actuators (SEAs) use elastic elements in