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F. Sergi, Chawda, V., and O’Malley, M. K., “Interaction control of a non-backdriveable MR-compatible actuator through series elasticity”, ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013.PDF icon sergi2013asme.pdf (1.8 MB)
F. Sergi and O'Malley, M. K., “On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity”, Mechatronics, vol. 26, pp. 64-75, 2015.PDF icon Sergi2015 - SEA high stiffness.pdf (2.62 MB)