Rendering of Arbitrary and Stable Stiffness Using a Series Elastic Actuator. - Yu-Shen Lee; Chao-Chieh Lan (AIM, 2020)

A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments. - Yu-Shen Lee; Kuan-Wei Chiao; Chao-Chieh Lan (IEEE Robotics Autom. Lett., 2021)