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20132026
most citedNecessary and Sufficient Conditions for Passivity of Velocity-Sourced Impedance Control of Series Elastic Actuators

45 citations · 143 across the 18 of their papers we have counts for

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cs.RO2022★ 3 cited

Passive Realizations of Series Elastic Actuation: Effects of Plant and Controller Dynamics on Haptic Rendering Performance

Celal Umut Kenanoglu, Volkan Patoglu

We introduce minimal passive physical equivalents of series (damped) elastic actuation (S(D)EA) under closed-loop control to determine the effect of different plant parameters and…