A robust parameterization approach for impedance control. - Mathias Illian; Steffen Leonhardt; Berno J. E. Misgeld (ACC, 2015)

Robust strict positive real control of variable stiffness actuators. - Berno J. E. Misgeld; Mathias Illian; Lin Liu; Steffen Leonhardt (ACC, 2020)

Iterative Learning Control for Cascaded Impedance-Controlled Compliant Exoskeleton With Adaptive Reaction to Spasticity. - Lin Liu; Mathias Illian; Steffen Leonhardt; Berno J. E. Misgeld (IEEE Trans. Instrum. Meas., 2023)