Özçınar, Erim CanUğurlu, Regaip Barkan2022-08-312022-08-312021-121302-0900http://hdl.handle.net/10679/7818In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot interaction and researchers usually use torque sensors or custom-built torsional springs. These elements lead to relatively more complicated systems and increase the total weight. In contrast, reaction force observers can estimate external forces acting on the system and thus enable torque control with no need of torque sensing. The estimation process performs better for backdrivable systems, therefore, its implementation to non-backdrivable systems, e.g., systems with a gear ratio of 1:100, is limited. To remedy this issue, a reaction force observer-based torque controller was designed and implemented. As a result, experimental data showed that reaction force observer leads to favorable torque control performance when supported with friction compensation.engopenAccessarticle24416291635000762330700027Tork kontrolüTepki kuvveti gözetleyiciBozunum gözetleyiciSürtünme kompanzasyonuTorque controlReaction force observerDisturbance observerFriction compensation