Data: Partial Parallel Elastic Actuation: A Novel Actuation Paradigm for Mechanical Energy Recycling

This database contains the data used for the paper: Partial Parallel Elastic Actuation: A Novel Actuation Paradigm for Mechanical Energy RecyclingIt contains the experimental data for the validation of the new concept of partial parallel elastic atuators: The code used to create the figure presented in the paper:- M1_Driving: Figure 3A - M2_Backdriving: Figure 3B - M3_Spring_assistance: Figure 4 The data file for each of the experiments is presented in the paper:1: Driving2: Backdriving3: Baseline for the PPEA4: Spring assisting driving for the PPEA5: Spring opposing driving for the PPEA6: Baseline for the PEA7: Spring assisting for the PEA8: Spring opposing driving for the PEA For each of the experiments, two types of data files are made available (in .mat and .csv): - The raw data (file name ending with '_r') directly outputted from the test setup containing the following variable corresponding to the row:1: The time 2: The position of the spring encoder3: The torque recorded at the input torque sensor4: The torque recorded at the output torque sensor5: The torque recorded at the spring torque sensor6: The torque recorded at the input motor 7: The torque recorded at the output motor8: The position of the input encoder9: The position of the output encoder - The processed data (file name ending with '_c'), with the data from the test setup converted to the relevant unit (rad, Nm and rad/s), the sensor offset removed, sensor overflow compensated for and the speed and torque filtered with an 8th order Butterworth filter at a frequency of 15 Hz.t: Time (s)p_s: Spring position (rad)p_in: Input position (rad)p_out: Output position (rad)T_in: Input torque sensor torque (Nm)T_out: Output torque sensor torque (Nm)T_s: Spring torque sensor torque (Nm)T_Min: Input motor torque (Nm)T_Mout: Output motor torque (Nm)v_s: Spring speed (rad/s)v_in: Input speed (rad/s)v_out: Output speed (rad/s) The conversion between the raw data and the processed data can be performed with the code 'M_0_data_cleaning.m'