Abstract Series elastic actuator (SEA) has already been used in robotics, especially the
human-robot interaction field, to acquire compliance and force sensing ability. However …

This paper aims to describe modeling and control in what concerns advanced
manufacturing technology running on a flexible assembly, disassembly and repair on a …

This paper proposes the implementation of an assisting technology to a processing/
reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic …

In this brief, an adaptive nonsingular terminal sliding mode observer–based adaptive
integral terminal sliding mode model-free control is proposed for the trajectory tracking …

The electrification of many mobile applications such as wearable robots has led to the need
for carrying batteries to store electrical energy. However, low-efficient actuators require …

Since robotic arms operating close to people are becoming increasingly common, there is a
need to better understand how they can be made safe when unintended contact occurs …

Differential Elastic Actuators (DEAs) connect a motor and a spring via differential gears to a
shared output shaft, offering a more compact solution for creating mechanically robust …

To ensure safe and accurate environment-robot interaction, a torque sensor is usually
mounted at the output of an actuator to detect and control the output torque. Deformation …

Abstract Purpose Using the da Vinci Research Kit (dVRK), we propose and experimentally
demonstrate transfer learning (Xfer) of dynamics between different configurations and robots …

The current state of the art in compliant actuation has already good performance, but this is
still insufficient to provide a decent autonomy for the next generation of robots. In this paper …