In this paper, we present a loop-shaping method that incorporates unstable poles for the
magnetic-head positioning system in a hard disk drive (HDD). The proposed method …

This paper presents unified force and position control based on sliding mode control (SMC)
for a series elastic actuator (SEA). Compliant motion of robotic systems is crucial when …

This paper presents a novel parameter identification method for series elastic actuators
(SEAs). Conventionally, such devices are equipped with (linear or rotary) encoders to …

This study presents a method to switch between position control and force control. Currently,
robotic systems are being desired to perform versatile and dexterous tasks, achieving …

In control systems where fast and precise operation is required, it is essential to implement
control system considering parameter fluctuations, especially if the state of the manufactured …

Los estudios en el campo de rehabilitación motora se ha constituido en un eje de creciente
interés para la comunidad académica, debido a las diferentes situaciones que generan …

This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-
efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand …