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Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
(IEEE, 2015)
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ...
Environmental force estimation for a robotic hand : compliant contact detection
(IEEE, 2015)
This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ...
A comparison study on observer-based force control of series elastic actuators
(IEEE, 2018)
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ...
Design and development of a durable series elastic actuator with an optimized spring topology
(Sage, 2021-12)
This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot ...
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