Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.

中文翻译：

---

用于高效机器人的弹性能量回收执行器

电动机广泛用于机器人，但在许多应用中都会浪费能源。我们引入了一种弹性能量回收执行器，它可以保持电机的多功能性，同时提高循环任务中的能源效率。该执行器包括一个与一系列弹簧并联的电机，这些弹簧可以通过成对的低功率电粘附离合器单独接合和分离，同时保留存储的能量。我们开发了一个原型执行器，并在五个重复任务中对其进行了测试，这些任务具有机器人应用中常见但难以高效执行的功能。该执行器在所有情况下都将功耗降低了至少 50%，在最佳情况下降低了 97%。由低功率离合器控制的弹性能量回收可以提高移动机器人、辅助设备和其他工程系统的效率。