Table 2.

The specifications of the actuator in the designed series elastic robot ankle joint (SERAJ).

Motor	maxon RE 40−148867
Torque Constant (motor)	30.2 mNm/A
Spring Stiffness	76.59 N/mm
Gear Ratio (reducer + belt pulley)	72: 1
Nominal Torque	15.744 Nm
Nominal Speed	105.287 rpm
Stall Torque	174.24 Nm
Power	Voltage	24 V
	Current (max)	5 A
Communication	RS-232
Sensing	angular position
	angular velocity
	voltage
	current