The flexible joint robot (FJR) typically experiences parametric variations, nonlinearities,
underactuation, noise propagation, and external disturbances which seriously degrade the …

Compliant actuators can offer many attractive features over stiff actuators in real human-
robot interaction applications, such as low output impedance, smooth force transmission …

With inherent mechanical compliance and programmable force controllability, the Series
Elastic Actuator (SEA) has been a popular choice for modern mechanical systems. It is …

Transparency and guaranteed safety are important requirements in the design of wearable
exoskeleton actuators for individuals who have lower limb deficits but still maintain a certain …

This paper proposes an original robust adaptive controller by using Radial Basis Function
Neural networks (RBFNNs) for industrial robot manipulators (IRMs) in uncertain dynamical …

The tracking control based on output feedback for a category of flexible-joint robot (FJR)
systems is investigated in this brief. Control performance of the systems is inevitably bearing …

A robust finite-time control (FTC) framework using continuous terminal sliding-mode control
(SMC) and high-order sliding-mode observer (HOSMO) is discussed to realize the trajectory …

In this article, we propose a novel rotational variable stiffness actuator that uses S-shaped
springs as elastic elements. The S-shaped springs are designed based on the principle of …

Force control is of great significance in the field of robotic control, for example, in tasks which
requires precise control of contact force between robot and the environment, traditional path …

This paper proposes a robust finite-time control scheme for the high-precision tracking
problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a …