Impedance control of a series elastic drive system added with another actuator. - Keisuke Yasuda; Shunya Takahashi; Yasuhito Kusakabe; Ryojun Ikeura; Soichiro Hayakawa; Hideki Sawai (ROBIO, 2014)

Impedance Control Considering Velocity Saturation of a Series Elasticity System with a Motor. - Ren Fukui; Yasuhito Kusakabe; Ryojun Ikeura; Soichiro Hayakawa (J. Robotics Mechatronics, 2021)