Collaborative robotics is an umbrella term that conveys the general idea of proximity
between machines and humans for some useful tasks in a shared space, with a range of …

Robots that physically interact with their surroundings, in order to accomplish some tasks or
assist humans in their activities, require to exploit contact forces in a safe and proficient …

Technology-supported rehabilitation therapy for neurological patients has gained increasing
interest since the last decades. The literature agrees that the goal of robots should be to …

There are two main categories of force control schemes: hybrid position‐force control and
impedance control. However, the former does not take into account the dynamic interaction …

This paper proposes a novel constant force tracking control scheme based on an
impedance controller with online stiffness and reverse damping force (OSRDF) to track …

Exoskeletons are considered as promising devices for motion assistance of mobility
impaired patients and motor ability augmentation of healthy people. Considering the …

Series elastic actuators (SEAs) have become fundamental components in robots that
physically interact with unstructured environments and humans. Force control of SEAs is …

Series elastic actuation (SEA) has become prevalent in applications involving physical
human-robot interaction, as it provides considerable advantages over traditional stiff …

Series elastic actuators (SEAs) have become fundamental components in robots that
physically interact with the surrounding world and with humans. Force control of SEAs is …

For the position-error feedback-based admittance control in human strength augmentation,
there are inherent conflicts among different performances, such as accuracy, passivity, and …