Yu-Shen Lee

A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments

Accurate and wide-range stiffness control is important for safe human-robot interaction. Accurate stiffness control can be better achieved using series elastic actuators (SEAs) than conventional rigid actuators. However, the stable range of virtual stiffness rendered by SEAs is limited by the stiffn