Stability and Transparency in Series Elastic Actuation: A Two-Port Analysis. - Ugur Mengilli; Umut Caliskan; Zeynep Ozge Orhan; Volkan Patoglu (CoRR, 2020)

Passivity of Series Damped Elastic Actuation under Velocity-Sourced Impedance Control. - Ugur Mengilli; Zeynep Ozge Orhan; Umut Caliskan; Volkan Patoglu (WHC, 2021)