The diversity in torque-controlled actuators has enabled researchers to address numerous physical human–robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, … [Read more...] about Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
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