TY - Generic T1 - Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Y1 - 2015 A1 - Mehling, J.S. A1 - James Holley A1 - O'Malley, M.K. JF - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ER -