Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptation of Elastic Actuators. - Florian Stuhlenmiller; Rodrigo J. Velasco-Guillen; Stephan Rinderknecht; Philipp Beckerle (HFR, 2019)

A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis. - Rodrigo J. Velasco-Guillen; Victor Grosu; Víctor A. Carmona-Ortiz; Bram Vanderborght; Dirk Lefeber; Josep M. Font-Llagunes; Philipp Beckerle (BioRob, 2020)

Comparing Online Robot Joint Space Trajectory Optimization for Task Space Applications. - Maximilian Krämer; Rodrigo J. Velasco-Guillen; Philipp Beckerle; Torsten Bertram (AIM, 2021)

A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator. - Rodrigo J. Velasco-Guillen; Raphaël Furnemónt; Tom Verstraten; Philipp Beckerle (AIM, 2022)

Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics. - Rodrigo J. Velasco-Guillen; Victor Grosu; Bram Vanderborght; Josep M. Font-Llagunes; Philipp Beckerle (BioRob, 2022)