Force control of an uncertain series elastic actuator system via a fuzzy sliding mode controller and a nonlinear state estimator. - Seyed Ali Moafi; Farid Najafi (J. Syst. Control. Eng., 2020)

Fuzzy impedance-based control with fast terminal sliding mode force control loop for a series elastic actuator system. - Seyed Ali Moafi; Farid Najafi (Trans. Inst. Meas. Control, 2022)

Interval type-2 fuzzy-logic-based impedance control of a hip joint rehabilitation robot driven by a high-order sliding-mode-controlled series elastic actuator. - Seyed Ali Moafi; Farid Najafi (Int. J. Intell. Robotics Appl., 2025)