Uğurlu, Regaip BarkanSarıyıldız, E.Kansızoğlu, Ahmet TalhaÖzçınar, Erim CanCoruk, Sinan2022-11-162022-11-162022-061070-9932http://hdl.handle.net/10679/7953https://doi.org/10.1109/MRA.2021.3124154The diversity in torque-controlled actuators has enabled researchers to address numerous physical human-robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, series elastic actuators (SEAs) could meet these requirements [2], and they are extensively employed in state-of-the-art robot platforms [3]-[5]. As a result, SEA development is garnering interest in line with the growing need in related subfields in robotics.engrestrictedAccessarticle292859600073267800000110.1109/MRA.2021.31241542-s2.0-85120034695