This work addresses the problem of global set-point control of elastic joint robots by
combining elastic structure preserving (ESP) control with non-collocated integral action …

Lightweight robots are known to be intrinsically elastic in their joints. The established
classical approaches to control such systems are mostly based on motor-side coordinates …

We establish a structure preserving state and input transformation that allows a class of
underactuated Euler Lagrange systems to be treated as “quasi‐fully” actuated. In this …

In this letter, a new robust approach is proposed to address the limitation of impedance
rendering for Series Elastic Actuators (SEA). The concept of Elastic Structure Preserving …

Since safe human-robot interaction is naturally linked to compliance in these robots, this
requirement presents a challenge for the positioning accuracy. The class of variable …

Industrial robots are widely used in the painting industry, such as automobile manufacturing
and solid wood furniture industry. An important problem is how to improve the efficiency of …

This article offers a new insight to the achievable stiffness limitation of the impedance control
of series elastic actuators (SEAs) by suggesting a comparative analysis of energy ports and …

Differential elastic actuators connect a motor and a spring via differential gears to a shared
output shaft, offering a more compact solution for creating mechanically robust systems than …

In situations of harsh impacts, dam** injection directly on the link of an articulated soft
robot is challenging and usually requires high actuator torques at the moment of impact. In …

This paper presents an innovative approach to control upper-limb rehabilitation robots for
both passive and active-assistive rehabilitation therapy. In contrast to conventional model …