5. Glossary

Equilibrage des effets gravitationnels; Gravity balancing

Total or partial cancellation of the forces required from the motors of a mechanical system to compensate for the effects of gravity on the bodies of said system.

Spring à longueur à vide nulle; Zero-free-length spring

A Zero-free-length spring is a helical spring that would exert zero force if its length were zero.

Actuators with series elastic elements; Series elastic actuators (SEAs)

An actuator with an elastic element in series can be seen, in basic terms, as a motor, usually electric, connected in series with a spring which acts as an energy store.

Actionneurs à raideur (ou impédance) variable; Variable stiffness (or variable impedance) actuators (VSA / VIA)

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