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Physical design considerations for implementing a series viscous actuator, such as the appropriate gearing ratio and damper selection, are discussed and supported using the derived model.","abstract_html":"In this thesis, a series viscous actuator, composed of a viscous rotary damper connected to the output of a geared electric motor, is proposed as a novel solution to the high actuator impedances encountered when using such a motor. High impedances can be undesirable when interacting with the environment or animal subjects as unexpected forces may damage already-compromised joints. A state space model for the series viscous actuator was derived and verified by measurements upon a physical system. Physical design considerations for implementing a series viscous actuator, such as the appropriate gearing ratio and damper selection, are discussed and supported using the derived model.","abstract_has_math":false,"creators":["Wiltsie, Nicholas Eric"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Neville Hogan."],"committee_chairs":[],"committee_members":[],"year":2010,"date_issued":"2010","date_published":"2010","updated_at":"2026-07-22T22:21:36Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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