There are two main categories of force control schemes: hybrid position‐force control and
impedance control. However, the former does not take into account the dynamic interaction …

Compliance actuation systems are efficient and safe, drawing attention to their development.
However, compliance has caused bandwidth loss, instability, and mechanical vibration in …

Compliance is increasingly being incorporated in the transmission of robotics actuation
systems to cope with unpredictable interactions, improve the robustness of the robot and in …

This paper presents a comparative study of approaches to control robots with variable
impedance actuators (VIAs) in ways that imitate the behavior of humans. We focus on …

In this paper, a disturbance observer‐based adaptive neural backstep** integral sliding
mode control (BISMC) is developed for a flexible joint robot (FJR) with the integration of an …

Variable stiffness actuators (VSAs) are currently explored as a new actuation approach to
increase safety in physical human–robot interaction (pHRI) and improve dynamic …

Although we do not know as yet how robots of the future will look like exactly, most of us are
sure that they will not resemble the heavy, bulky, rigid machines dangerously moving …

We propose a novel approach for estimating the nonlinear stiffness of robot joints with
flexible transmissions. Based on the definition of dynamic residual signals, we derive …

In this paper a fabric yielding softness display (FYD-2) is proposed, where the stretching
state is controlled using two motors, while the contact area is measured in real-time. In …

Robotics has always contemplated the most perfect existing machine, Human being,
dreaming to realize robots able to catch a small spark of this shining light. Robots that are …