Comparison of passivity based impedance controllers without torque-feedback for Variable Stiffness Actuators. - Markus Lendermann; Bajwa R. P. Singh; Florian Stuhlenmiller; Philipp Beckerle; Stephan Rinderknecht; P. V. Manivannan (AIM, 2015)

Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation. - Bajwa R. P. Singh; P. V. Manivannan; Philipp Beckerle (AIM, 2015)