AA&I

Both admittance and impedance control provide ways to regulate the interaction between a robot and its environment. These control strategies are crucial for applications such as robotic assembly, manipulation, physical human-robot interaction, and haptic feedback systems.

I focus on research in the IEEExplore database. It is important to note that the views expressed in the following paper are those of the author and do not reflect my personal opinions. This page collects recent research effort in this line. (Update: June 2024)

• (2024) “Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots”, in IEEE transactions on robotics. DOI: 10.1109/TRO.2024.3502508.
  Keywords: Robots; Payloads; Collaboration; Autonomous aerial vehicles; Transportation; Robot kinematics; Quadrotors; Service robots; Redundancy; Manipulators; Aerial Robotics; Physical Human-Robot Interaction.

• (2024) “Probability-Based Force Control for Flexible Ureteroscopy Robots”, in IEEE transactions on automation science and engineering. DOI: 10.1109/TASE.2024.3491139.
  Keywords: collision detection; Flexible ureteroscopy robot; force control; morphological wavelet; statistic test.

• (2024) “Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3497726.
  Keywords: Sensors; Force; Force control; Grippers; Grasping; Optical sensors; Admittance control; Impedance; Dynamics; Shape; Force control; sensor-based control; grasping.

• (2024) “Sampled-Data Admittance-Based Control for Physical Human–Robot Interaction With Data-Driven Moving Horizon Velocity Estimation”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3488314.
  Keywords: Trajectory; Estimation; Velocity measurement; Noise measurement; Kalman filters; Dynamics; Uncertainty; Nonlinear dynamical systems; Manipulator dynamics; End effectors; Moving horizon estimation (MHE); physical human–robot interaction (pHRI); sampled-data control; velocity estimation.

• (2024) “A Swing-Assist Controller for Enhancing Knee Flexion in a Semi-Powered Transfemoral Prosthesis”, in IEEE Transactions on Neural Systems and Rehabilitation Engineering. DOI: 10.1109/TNSRE.2024.3495517.
  Keywords: Knee; Prosthetics; Torque; Legged locomotion; Thigh; Dynamics; Impedance; Trajectory; Resistance; Motion segmentation; Legged Locomotion; Prosthetics; Wearable Robots.

• (2024) “Virtually Constrained Admittance Control Using Feedback Linearization for Physical Human-Robot Interaction With Rehabilitation Exoskeletons”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3480157.
  Keywords: Robots; Force; Exoskeletons; Trajectory; Admittance control; Sun; Robot kinematics; Feedback linearization; Aerospace electronics; Mechatronics; Admittance control; feedback linearization; holonomic constraints; physical human–robot interaction (pHRI); rehabilitation exoskeletons.

• (2024) “Compact Modular Robotic Wrist with Variable Stiffness Capability”, in IEEE transactions on robotics. DOI: 10.1109/TRO.2024.3492453.
  Keywords: Actuators; Collision avoidance; Compliant joint; End effectors; flexure; manipulation; Manipulators; Motors; Prosthetics; Robot sensing systems; robotic wrist; Robots; Sensors; variable stiffness; Wrist.

• (2024) “Distributed Neural Adaptive Impedance Control for Cooperative Manipulation With Unknown Objects”, in IEEE Trans Neural Netw Learn Syst. DOI: 10.1109/TNNLS.2024.3478215.
  Keywords: Manipulators; Impedance; Trajectory; Manipulator dynamics; Robots; Artificial neural networks; Uncertainty; Gravity; Observers; Visual perception; Adaptive impedance control (AIC); cooperative manipulation; distributed neural control; mobile manipulators.

• (2024) “Multilevel Control Strategy of Human-Exoskeleton Cooperative Motion With Multimodal Wearable Training Evaluation”, in IEEE transactions on control systems technology. DOI: 10.1109/TCST.2024.3477299.
  Keywords: Adaptation models; Admittance; Estimation; Event detection; Exoskeletons; Fixed-time convergent control; human–exoskeleton cooperative motion; Long short term memory; lower limb exoskeleton; multi-level control strategy; Torque; Training; Trajectory; Uncertainty; variable admittance control; wearable comfort evaluation.

• (2024) “Multichannel Bioimpedance-Based Gesture Classification System for Enhanced Human-Machine Interaction”, in IEEE Sensors Journal. DOI: 10.1109/JSEN.2024.3480692.
  Keywords: Electrical impedance tomography; Voltage measurement; Current measurement; Impedance; Impedance measurement; Accuracy; Electrodes; Support vector machines; Demodulation; Frequency measurement; Electrical Impedance Tomography (EIT); Gesture Recognition; Wearable Sensors; Machine Learning; Subspace Discriminant Analysis; Hand Gestures.

• (2024) “Object-Aware Impedance Control for Human–Robot Collaborative Task With Online Object Parameter Estimation”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2024.3477471.
  Keywords: Robots; Collaboration; Impedance; Robot sensing systems; Dynamics; Sensors; Transportation; Estimation; Parameter estimation; Robot kinematics; Physical human-robot interaction; online object parameter estimation; object-aware control; Cartesian impedance control; mobile manipulation.

• (2024) “Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human-Robot Interaction”, in IEEE Transactions on Cognitive and Developmental Systems. DOI: 10.1109/TCDS.2024.3480854.
  Keywords: Robots; Robot kinematics; Impedance; Force; Estimation; Robot sensing systems; Human-robot interaction; End effectors; Motor drives; Vectors; Physical human-robot interaction; Human arm stiffness; Motion intention; Variable impedance control.

• (2024) “Image-Based Visual-Admittance Control With Prescribed Performance of Manipulators in Feature Space”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3468609.
  Keywords: Cameras; Visualization; Visual servoing; Manipulator dynamics; Aerospace electronics; Robots; Force; Accuracy; Vectors; Steady-state; Hybrid vision/force control; prescribed performance; visual servoing.

• (2024) “Learning Stable State-Dependent Variable Impedance Control for Compliant Manipulation”, in IEEE/ASME transactions on mechatronics. DOI: 10.1109/TMECH.2024.3466950.
  Keywords: Impedance; Robots; Stability analysis; Asymptotic stability; Optimization; Mechatronics; Encoding; Damping; Accuracy; Tuning; Robotic control and learning; stability certificate learning; variable impedance control (VIC).

• (2024) “Exploring Key Factors on Capacitive ECG Signal Quality under Practical Considerations”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2024.3470044.
  Keywords: TV; Economic indicators; Capacitive ECG; skin-electrode interface impedance; signal quality.

• (2024) “Passive Realizations of Series Elastic Actuation: Effects of Plant and Controller Dynamics on Haptic Rendering Performance”, in IEEE Transactions on Haptics. DOI: 10.1109/TOH.2024.3470236.
  Keywords: Rendering (computer graphics); Impedance; Sufficient conditions; Springs; Stability criteria; Haptic interfaces; Force control; Dynamics; Damping; Robustness; Physical human-robot interaction; interaction control; haptic rendering; series elastic actuation; network synthesis; passive physical realizations; coupled stability.

• (2024) “Learning to Assist Different Wearers in Multitasks: Efficient and Individualized Human-in-The-Loop Adaptation Framework for Lower-Limb Exoskeleton”, in IEEE transactions on robotics. DOI: 10.1109/TRO.2024.3468768.
  Keywords: Exoskeletons; Impedance; Legged locomotion; Lower-limb exoskeleton; Motors; multitask walking; online adaptation to wearers; proprioceptive sensors; Robots; Sensors; Trajectory.

• (2024) “Optimized Impedance Control of a Lightweight Gait Rehabilitation Exoskeleton Based on Accurate Knee Joint Torque Estimation”, in IEEE Transactions on Medical Robotics and Bionics. DOI: 10.1109/TMRB.2024.3464671.
  Keywords: Torque; Impedance; Exoskeletons; Attention mechanisms; Motors; Actuators; Medical robotics; Knee exoskeleton; Attention mechanism; Torque estimation; Impedance control; Compliant control.

• (2024) “Gait Planning and Multimodal Human-Exoskeleton Cooperative Control Based on Central Pattern Generator”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3453037.
  Keywords: Trajectory; Exoskeletons; Hip; Tracking; Real-time systems; Training; Switches; Adaptive backstepping control; admittance control; central pattern generators (CPGs); human-exoskeleton cooperative control; lower limb exoskeleton.

• (2024) “Force Sensing Strategy for the Antagonistic Variable Stiffness Hand”, in IEEE Sensors Journal. DOI: 10.1109/JSEN.2024.3459947.
  Keywords: Sensors; Torque; Robot sensing systems; Strain; Thumb; Force; Strain measurement; Force sensors; Sensor modelling; Strain gauges.

• (2024) “Toward Task-Independent Optimal Adaptive Control of a Hip Exoskeleton for Locomotion Assistance in Neurorehabilitation”, in IEEE Transactions on Systems, Man, and Cybernetics: Systems. DOI: 10.1109/TSMC.2024.3454556.
  Keywords: Exoskeletons; Legged locomotion; Hip; Impedance; Motors; Robots; Tuning; Assistance personalization; impedance control; optimal adaptive control; rehabilitation exoskeletons; rehabilitation robotics; reinforcement learning (RL).

• (2024) “Efficient Impedance Controller Tuning of Robot–Environment Interaction with Improved Transient and Steady-state Performance”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2024.3463021.
  Keywords: Impedance; Tuning; Robots; Optimization; Bayes methods; Manipulators; Robot kinematics; Controller tuning; efficient tuning strategy; impedance control; real-world robotic interaction.

• (2024) “Toward Task-Independent Optimal Adaptive Control of a Hip Exoskeleton for Locomotion Assistance in Neurorehabilitation”, in IEEE Transactions on Systems, Man, and Cybernetics: Systems. DOI: 10.1109/TSMC.2024.3454556.
  Keywords: Assistance personalization; impedance control; optimal adaptive control; rehabilitation exoskeletons; rehabilitation robotics; reinforcement learning (RL).

• (2024) “Efficient Impedance Controller Tuning of Robot–Environment Interaction with Improved Transient and Steady-state Performance”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2024.3463021.
  Keywords: Impedance; Tuning; Robots; Optimization; Bayes methods; Manipulators; Robot kinematics; Controller tuning; efficient tuning strategy; impedance control; real-world robotic interaction.

• (2024) “Design of a Robotic System Featured With High Operation Transparency for Quantifying Arm Impedance During Ultrasound Scanning”, in IEEE Transactions on Human-Machine Systems. DOI: 10.1109/THMS.2024.3442537.
  Keywords: Robot sensing systems; Arms; Probes; Impedance measurement; Impedance; Phantoms; Gravity; Arm impedance measurement; skill acquisition system design; transparency analysis; ultrasound (US) robot; US scanning.

• (2024) “Active Admittance Control With Iterative Learning for General-Purpose Contact-Rich Manipulation”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3443965.
  Keywords: Active admittance control; interactive force control (ILC); iterative learning strategy; multitask manipulation.

• (2024) “High Dynamic Position Control for a Typical Hydraulic Quadruped Robot Leg Based on Virtual Decomposition Control”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3446840.
  Keywords: Legged locomotion; Robots; Hydraulic systems; Robot kinematics; Quadrupedal robots; Vectors; Trajectory; Floating base; high dynamic locomotion; hydraulic leg system; position control; virtual decomposition control (VDC).

• (2024) “Control of Self-Balancing Lower Limb Exoskeleton for Various Wearers Under Dynamic Deformation”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3447674.
  Keywords: Robots; Deformation; Exoskeletons; Robot sensing systems; Legged locomotion; Robot kinematics; Real-time systems; Dynamic deformation; self-balancing exoskeleton; various wearers.

• (2024) “Multi-Contact Cartesian Null-Space Impedance Control for the Anthropomorphic Manipulator without Knowledge of Force Locations”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3443639.
  Keywords: Manipulators; Impedance; Task analysis; Torque; Manipulator dynamics; Aerospace electronics; Force; Impedance control; null-space; anthropomorphic manipulator; arm-angle; specially constructed Cartesian torque; multipoint contact; force locations.

• (2024) “Bidirectional Energy Flow Modulation for Passive Admittance Control”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2024.3443690.
  Keywords: Robots; Admittance control; Impedance; Robot sensing systems; Force; Surface impedance; Friction; Compliance and Impedance Control; Force Control; Physical Human-Robot Interaction; Passivity-based Control.

• (2024) “Robust Control of Collaborative Dual-User Haptic Training System: An Autonomous Variable Impedance Scheme”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3436622.
  Keywords: Training; Haptic interfaces; Impedance; Surgery; Stability analysis; Task analysis; Force; Autonomous impedance variation; dual-user haptics; physically assistive devices; surgery training; stability analysis.

• (2024) “Advancements and Challenges in Electrical Impedance Myography (EIM): A Comprehensive Overview of Technology Development, Applications in Sports Health, and Future Directions”, in IEEE Journal of Microwaves. DOI: 10.1109/JMW.2024.3427710.
  Keywords: Muscles; Impedance; Sports; Current measurement; Bioimpedance; Time-frequency analysis; Impedance measurement; Clinical assessment tool; electrical impedance myography; electrophysiological recording; muscle physiological state; sports health.

• (2024) “An impedance recognition framework based on electromyogram for physical human-robot interaction”, in IEEE transactions on cognitive and developmental systems. DOI: 10.1109/TCDS.2024.3442172.
  Keywords: Impedance; Force; Robots; Robot sensing systems; Muscles; Force sensors; Electromyography; Impedance recognition; physical human robot interaction; electromyographic signals; hybrid signal features.

• (2024) “Force-Sensorless Active Compliance Control for Environment Interactive Robotic Systems”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3436823.
  Keywords: Robots; Robot sensing systems; Uncertainty; Robot kinematics; Force sensors; Legged locomotion; Dynamics; Active compliance control; environment interactive robot; force sensorless.

• (2024) “Physical Human–Robot Interaction of Dual-Arm Manipulators With Human Intention Estimation and Two-Level Admittance Adaptation”, in IEEE/ASME transactions on mechatronics. DOI: 10.1109/TMECH.2024.3411574.
  Keywords: Manipulators; Force; Collaboration; Artificial neural networks; Uncertainty; Estimation; Admittance control; Dual-arm manipulators collaboration; human intention estimation; internal and external forces control; physical human–robot interaction (pHRI); variable admittance control.

• (2024) “Hybrid Vision/Force Cascaded Model Predictive Control of Robotic Manipulators for Automatic Docking Tasks”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3429608.
  Keywords: Manipulators; Task analysis; Manipulator dynamics; Force; Cameras; Visualization; Safety; Automatic docking; force predictive control (FPC); hybrid vision/force control; visual predictive control (VPC).

• (2024) “Approximation-Based Admittance Control of Robot-Environment Interaction With Guaranteed Performance”, in IEEE transactions on systems, man, and cybernetics. Systems. DOI: 10.1109/TSMC.2024.3430265.
  Keywords: Adaptive control; admittance control; iterative learning; neural networks (NNs); robot-environment interaction.

• (2024) “3D Noncontact Micro-Particle Manipulation with Acoustic Robot End-Effector under Microscope”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3436330.
  Keywords: Acoustics; End effectors; Three-dimensional displays; Robot kinematics; Impedance; Phased arrays; Acoustic field; Acoustics; micro/nano robotics; microscopic vision; noncontact particle manipulation.

• (2024) “Cooperative Control for Dual-Arm Robots Based on Improved Dynamic Movement Primitives”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3406866.
  Keywords: Robots; Robot kinematics; Trajectory; Task analysis; Service robots; Manipulator dynamics; End effectors; Cooperative control; dual-arm robotic system; dynamic movement primitives (DMPs); impedance control; visual perception.

• (2024) “Design and test of an intraoral electrode grid for tongue high density electromyography”, in IEEE Transactions on Neural Systems and Rehabilitation Engineering. DOI: 10.1109/TNSRE.2024.3434360.
  Keywords: Tongue; Muscles; Electrodes; Electromyography; Motors; Task analysis; Surface impedance; Electrode technology; electromyography; motor unit; decomposition; speech; tongue muscles.

• (2024) “Digital Sensing Systems for Electromyography”, in IEEE Transactions on Neural Systems and Rehabilitation Engineering. DOI: 10.1109/TNSRE.2024.3435740.
  Keywords: Electromyography; Sensors; Electrodes; Prosthetics; Sensor systems; Impedance; Skin; Digital electromyography; sensors-skin impedance.

• (2024) “Hip-knee motion-lagged coordination mapping enables speed adaptive walking for powered knee prosthesis”, in IEEE Transactions on Neural Systems and Rehabilitation Engineering. DOI: 10.1109/TNSRE.2024.3435931.
  Keywords: Knee; Hip; Prosthetics; Legged locomotion; Ankle; Motors; Torque; Joint coordination; motion lag; gait planning; biomimetic gait; lower-limb prosthesis.

• (2024) “Resistance Training using VAriable Resistance Suit (VARS) Increased Isometric and Isokinetic Muscle Strength”, in IEEE Transactions on Neural Systems and Rehabilitation Engineering. DOI: 10.1109/TNSRE.2024.3435798.
  Keywords: Muscles; Training; Immune system; Reactive power; Electrical resistance measurement; Elbow; Knee; resistance training; variable resistance suit; wearables; hypertrophy; muscle strength; muscle size; body composition; isokinetic; isometric.

• (2024) “Partially Decoupled Impedance Motion Force Control Using Prioritized Inertia Shaping”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3430869.
  Keywords: Force; Robot sensing systems; Dynamics; Couplings; Noise; Force control; Friction; Force control; impedance control; inertia shaping; motion force control; prioritized control.

• (2024) “Dynamic Arm Impedance Regulation: Experiences from Medical Ultrasound Scanning Experts”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2024.3428622.
  Keywords: Force; Probes; Impedance; Impedance measurement; Task analysis; Force measurement; Robots; Hand impedance measurement; Multifactor analysis of variance; Skill acquisition system; Ultrasound robot; Ultrasound scanning.

• (2024) “Constant Force Control and Trajectory Planning of Multi-Axis Polishing Machine using ADRC and B-Spline Curve Algorithm”, in IEEE Access. DOI: 10.1109/ACCESS.2024.3429377.
  Keywords: Force; Splines (mathematics); Force control; Robots; Polishing machines; Impedance; Trajectory; B-spline curve interpolation; motion control; constant force control; ADRC.

• (2024) “A Robot Humanoid Control Framework through Human Arm Active Endpoint Stiffness and Direction Adaptive Compensation”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3428927.
  Keywords: Robots; Impedance; Human-robot interaction; Electromyography; Manipulators; Trajectory; Muscles; Humanoid control; human-robot interaction (HRI); adaptive impedance control; direction adaptive compensation.

• (2024) “Adaptive Admittance Control Strategy for a Robotic Knee Exoskeleton With a Nonlinear Variable Stiffness Actuator”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3422478.
  Keywords: Exoskeletons; Knee; Robots; Trajectory; Torque; Actuators; Springs; Adaptive admittance control; knee joint impairment; nonlinear variable stiffness actuator (NLVSA); robotic knee exoskeleton; torque and stiffness estimation.

• (2024) “Hierarchical Impedance, Force, and Manipulability Control for Robot Learning of Skills”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3419852.
  Keywords: Robots; Task analysis; Impedance; Force; Jacobian matrices; Trajectory; Ellipsoids; Contact-rich tasks; force control; impedance control; learning from demonstration (LfD); robotic manipulation; variable stiffness.

• (2024) “Human–Robot Interactive Skill Learning and Correction for Polishing Based on Dynamic Time Warping Iterative Learning Control”, in IEEE Transactions on Control Systems Technology. DOI: 10.1109/TCST.2024.3423548.
  Keywords: Force; Robots; Task analysis; Impedance; Costs; Iterative learning control; Human-robot interaction; Dynamic time warping (DTW); Gaussian mixture model (GMM); human–robot interaction; iterative learning control (ILC).

• (2024) “Hybrid Impedance Control of Cable-Driven Parallel Robots Using Adaptive Friction Compensation”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3409905.
  Keywords: Friction; Cables; Impedance; Accuracy; Sliding mode control; Adaptation models; Analytical models; Adaptive control; cable-driven parallel robots (CDPRs); friction; impedance control; radial basis function networks.

• (2024) “A Physical Human–Robot Interaction Framework for Trajectory Adaptation Based on Human Motion Prediction and Adaptive Impedance Control”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2024.3415650.
  Keywords: Robots; Trajectory; Force; Impedance; Task analysis; Tracking; Speech recognition; Physical human-robot interaction (pHRI); trajectory adaptation; adaptive impedance control; human motion prediction.

• (2024) “Learning Target-Directed Skill and Variable Impedance Control From Interactive Demonstrations for Robot-Assisted Soft Tissue Puncture Tasks”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2024.3418018.
  Keywords: Robots; Task analysis; Impedance; Force; Trajectory; Biological tissues; Dynamics; Interactive demonstration; robot target-directed skill learning; variable impedance control; derivatives Gaussian process; soft tissue puncture.

• (2024) “Variable Trajectory Impedance: A Super-Twisting Sliding Mode Control Method for Mobile Manipulator Based on Identification Model”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3383042.
  Keywords: Manipulators; Manipulator dynamics; Force; Trajectory; Torque; Vectors; Impedance; Dynamics of the mobile manipulator; measurement identification; variable trajectory active compliance control.

• (2024) “A Control Framework for Accurate Mechanical Impedance Rendering with Series-Elastic Joints in Prosthetic Actuation Applications”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3416769.
  Keywords: Impedance; Motors; Prosthetics; Legged locomotion; Actuators; Torque; Rendering (computer graphics); Compliance and impedance control; compliant joints and mechanisms; prosthetics.

• (2024) “A Lightweight Powered Knee Prosthesis Replicating Early-Stance Knee Flexion During Level Walking”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3416799.
  Keywords: Knee; Prosthetics; Legged locomotion; Motors; Torque; Robots; Biomechanics; Prosthetics and exoskeletons; actuation and joint mechanisms.

• (2024) “A Passive Power-Based Control Strategy for pHRI Tasks With Omni-Directional Robotic Mobile Platforms”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3415930.
  Keywords: Robots; Damping; Admittance; Dynamics; Task analysis; Mobile robots; Robot kinematics; Physical Human-Robot Interaction; Human-Centered Robotics; Compliance and Impedance Control; Wheeled Robots; Cooperating Robots.

• (2024) “A User- and Slope-Adaptive Control Framework for a Walking Aid Robot”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3416075.
  Keywords: Legged locomotion; Robots; Safety; Robot sensing systems; Cameras; Assistive robots; Oscillators; walking assistive robot; variable admittance control; slope adaptive control; human motion recognition.

• (2024) “Force Push: Robust Single-Point Pushing With Force Feedback”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3414180.
  Keywords: Robot sensing systems; Robots; Force; Force measurement; Friction; Force feedback; Sensors; Mobile manipulation; force and tactile sensing; nonprehensile manipulation.

• (2024) “The Palletrone Cart: Human-Robot Interaction-Based Aerial Cargo Transportation”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3416794.
  Keywords: APhI; admittance control; disturbance observer; aerial transportation; physical human-robot interaction.

• (2024) “A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3406055.
  Keywords: Robots; Payloads; Task analysis; Admittance control; Force; Manipulator dynamics; Dynamics; Compliance and impedance control; force control; Human-Robot Collaboration; motion control.

• (2024) “A Safety-Focused Admittance Control Approach for Physical Human–Robot Interaction With Rigid Multi-Arm Serial Link Exoskeletons”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3389046.
  Keywords: Safety; Collision avoidance; Exoskeletons; Admittance control; Manipulators; Jacobian matrices; Hardware; Admittance control; collision-avoidance; exoskeletons; multi-arm systems; physical human–robot interaction (pHRI); safety; serial link manipulators.

• (2024) “Lie Group-Based User Motion Refinement Control for Teleoperation of a Constrained Robot Arm”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3401135.
  Keywords: Robots; Task analysis; Force; Aerospace electronics; Torque; Robot kinematics; Robot sensing systems; Telerobotics and teleoperation; recognition; compliance and impedance control.

• (2024) “Barrier Lyapunov Function-Based Fuzzy Adaptive Admittance Control of an Upper Limb Exoskeleton Using RBFNN Compensation”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3392604.
  Keywords: Exoskeletons; Adaptation models; Task analysis; End effectors; Admittance control; Trajectory; Force; Barrier Lyapunov function (BLF); fuzzy adaptive admittance control; industrial interaction tasks; neural network; upper limb exoskeleton.

• (2024) “Adaptive Admittance Tracking Control for Interactive Robot with Prescribed Performance”, in Journal of Systems Engineering and Electronics. DOI: 10.23919/JSEE.2024.000038.
  Keywords: Uncertainty; Simulation; Trajectory; Safety; Reliability; Adaptive control; Task analysis; prescribed performance; admittance control; adaptive control; robots.

• (2024) “A Variable-Admittance Assist-As-Needed Controller for Upper-limb Rehabilitation Exoskeletons”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3398565.
  Keywords: Exoskeletons; Wrist; Trajectory; Training; Aerospace electronics; Robot kinematics; Redundancy; Physical Human-Robot Interaction; Prosthetics and Exoskeletons; Rehabilitation Robotics.

• (2024) “Hierarchical Trajectory Deformation Algorithm with Hybrid Controller for Active Lower Limb Rehabilitation”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3396369.
  Keywords: Trajectory; Deformation; Robots; Force; Vectors; Optimization; Human-robot interaction; Physical human-robot interaction (pHRI); rehabilitation robotics; hierarchical trajectory deformation algorithm; active rehabilitation.

• (2024) “Mitigating collision forces and improving response performance in human-robot interaction by using dual-motor actuators”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3396370.
  Keywords: Actuators; Robots; Collision avoidance; Safety; Sun; Gears; Torque.

• (2024) “SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3396368.
  Keywords: Task analysis; Robots; Safety; Impedance; Aerospace electronics; Training; Trajectory; Compliance and impedance control; reinforce- ment learning (RL); robotics and automation in construction.

• (2024) “A Hybrid Framework Based on Bio-Signal and Built-in Force Sensor for Human–Robot Active Co-Carrying”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2024.3395921.
  Keywords: Robots; Task analysis; Robot sensing systems; Impedance; Sensors; Dynamics; Collaboration; Human-robot collaboration; transportation; surface electromyography; RBF neural network; human intension detection.

• (2024) “Multi-Contact Whole-Body Force Control for Position-Controlled Robots”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3396094.
  Keywords: Robots; Torque; Humanoid robots; Task analysis; Admittance; Position measurement; Contacts; Multi-Contact Whole-Body Motion Planning and Control; Whole-Body Motion Planning and Control; Humanoid Robot Systems.

• (2024) “Simple-Rotation Angle/Axis Representations Based Second-Order Impedance Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3396090.
  Keywords: Impedance; Torque; Robots; Angular velocity; End effectors; Force; Mathematical models; Impedance control; simple-rotation angle/axis representations; second-order differential equation; adaptive control.

• (2024) “Neural Learning-Based Adaptive Force-Tracking Control for Robots With Finite-Time Prescribed Performance Under Varying Environments”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3383029.
  Keywords: Robots; Force; Task analysis; Uncertainty; Convergence; Artificial neural networks; Admittance control; Admittance control; disturbance observer (DOB); finite-time control; force tracking; neural networks (NNs).

• (2024) “Iterative Learning for Gravity Compensation in Impedance Control”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3386407.
  Keywords: Robots; Gravity; Impedance; Surgery; Uncertainty; Task analysis; Aerospace electronics; Gravity compensation; impedance control; iterative learning; physical human–robot interaction; robot-assisted arthroscopy.

• (2024) “Physical Human–Robot Interaction Based on Adaptive Impedance Control for Robotic-Assisted Total Hip Arthroplasty”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3376358.
  Keywords: Robots; Impedance; Force; Task analysis; Surgery; Dynamics; Aerospace electronics; Physical human–robot interaction (pHRI); robot-assisted total hip arthroplasty (RA-THA); variable impedance control; virtual fixture (VF).

• (2024) “Variable Admittance Control Using Velocity-Curvature Patterns to Enhance Physical Human-Robot Interaction”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3387110.
  Keywords: Force; Robots; Admittance control; Trajectory; Education; Estimation; Robot kinematics; Physical human-robot interaction; intention recognition; human factors and human-in-the-loop; velocity-curvature patterns.

• (2024) “Rigid and Flexible Structures Coupled System Study and Enhanced Vision-Aided Control for a Versatile Cable Winding Robot”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3382820.
  Keywords: Windings; Coils; Springs; Mechanical cables; Vibrations; Pulleys; Mathematical models; Impedance control; machine vision; rigid-flexible coupled structure; tension control; winding machine.

• (2024) “Force-Position Hybrid Control for Robot Assisted Thoracic-Abdominal Puncture with Respiratory Movement”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3386017.
  Keywords: Robots; Robot kinematics; Tumors; Tracking; Force; Service robots; Needles; Surgical Robotics: Steerable Catheters/Needles; Physical Human-Robot Interaction; Sensor-based Control.

• (2024) “Variable Admittance Control Using Velocity-Curvature Patterns to Enhance Physical Human-Robot Interaction”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3387110.
  Keywords: Force; Robots; Admittance control; Trajectory; Education; Estimation; Robot kinematics; Physical human-robot interaction; intention recognition; human factors and human-in-the-loop; velocity-curvature patterns.

• (2024) “Hybrid Cooperative Control of Functional Electrical Stimulation and Robot Assistance for Upper Extremity Rehabilitation”, in IEEE Transactions on Biomedical Engineering. DOI: 10.1109/TBME.2024.3384939.
  Keywords: Iron; Elbow; Robots; Motors; Torque; Muscles; Trajectory; Functional Electrical Stimulation (FES); hybrid systems; exoskeleton; rehabilitation.

• (2024) “Development of a Robotic Ultrasound System to Assist Ultrasound Examination of Pregnant Women”, in IEEE Transactions on Medical Robotics and Bionics. DOI: 10.1109/TMRB.2024.3387047.
  Keywords: Robots; Ultrasonic imaging; Robot sensing systems; Pregnancy; Probes; Medical services; Medical robotics; Robotic ultrasound; musculoskeletal disorders; collaborative assistance; obstetrical ultrasound; co-manipulation; hand-guidance.

• (2024) “Biomimetic Morphing Quadrotor Inspired by Eagle Claw for Dynamic Grasping”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2024.3386616.
  Keywords: Quadrotors; Grasping; Vehicle dynamics; Servomotors; Propellers; Task analysis; Drones; Morphing quadrotor; bioinspired mechanical design; dynamic grasping.

• (2024) “Asymmetric Integral Barrier Lyapunov Function-Based Human–Robot Interaction Control for Human-Compliant Space-Constrained Muscle Strength Training”, in IEEE Transactions on Systems, Man, and Cybernetics: Systems. DOI: 10.1109/TSMC.2024.3378479.
  Keywords: Robots; Training; Human-robot interaction; Torque; Observers; Aerospace electronics; Muscles; Admittance model; asymmetric integral barrier Lyapunov function (AIBLF); human–robot interaction (HRI); muscle strength training; nonlinear observer.

• (2024) “Image-Based Time-Varying Contact Force Control of Aerial Manipulator using Robust Impedance Filter”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3382963.
  Keywords: Cameras; Force; Surface impedance; Vectors; Tracking; Feature extraction; Trajectory; Aerial Systems: Applications; Aerial Systems: Mechanics and Control; Force Control.

• (2024) “Toward Impedance Control in Human-Machine Interfaces for Upper-Limb Prostheses”, in IEEE Trans Biomed Eng. DOI: 10.1109/TBME.2024.3384340.
  Keywords: Muscles; Kinematics; Impedance; Damping; Robots; Task analysis; Motors; Myocontrol; impedance control; human motor intent; muscle-skeleton models; prostheses.

• (2024) “A PI+R control scheme based on multi-agent systems for economic dispatch in isolated BESSs”, in IEEE/CAA Journal of Automatica Sinica. DOI: 10.1109/JAS.2024.124236.
  Keywords: Degradation; Batteries; Supply and demand; Costs; Convergence; Multi-agent systems; PI control; Battery energy storage system (BESS); distributed control; economic dispatch; multi-agent system; reset control.

• (2024) “Thresholds for Perceiving Changes in Friction When Combined With Linear System Dynamics”, in IEEE Transactions on Human-Machine Systems. DOI: 10.1109/THMS.2024.3368358.
  Keywords: Friction; Impedance; Force; Linear systems; Haptic interfaces; Damping; Task analysis; Friction; haptics; human threshold; just-noticeable difference (JND); masking; mass–spring–damper system; perception.

• (2024) “Vision-Guided Contact Force Control of an Omnidirectional Unmanned Aerial Vehicle”, in IEEE Transactions on Aerospace and Electronic Systems. DOI: 10.1109/TAES.2024.3376318.
  Keywords: Visualization; Force; Cameras; Impedance; Autonomous aerial vehicles; Admittance control; Vehicle dynamics; Force control; admittance control; aerial vehicle; visual servoing.

• (2024) “$\rm PI^}$-Based Adaptive Impedance Control for Gait Adaption of Lower Limb Exoskeleton”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3370954.
  Keywords: Impedance; Exoskeletons; Legged locomotion; Hip; Thigh; Knee; Robots; Adaptive impedance control; gait adaption; gait planning; lower limb exoskeleton robot.

• (2024) “A Deep Learning Framework for End-to-End Control of Powered Prostheses”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3374189.
  Keywords: Mathematical models; Torque; Robot sensing systems; Legged locomotion; Prosthetics; Deep learning; Computer architecture; Prosthesis; End-to-end Control; Torque Estimation; Deep Learning.

• (2024) “A Parallel SCARA robot with Low-Impedance Backdrivability and a Remotely Operated Gripper with Unlimited Rotation”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3374170.
  Keywords: Physical Human-Robot Interaction; Parallel Robots; Mechanism Design; Grippers and Other End-Effectors.

• (2024) “Teleoperation with Haptic Sensor-aided Variable Impedance Control Based on Environment and Human Stiffness Estimation”, in IEEE Sensors Journal. DOI: 10.1109/JSEN.2024.3369758.
  Keywords: Sensors; Robot sensing systems; Haptic interfaces; Robots; Task analysis; Electromyography; Manipulators; haptic technology; robotics and automation; sensor applications; sensor data fusion.

• (2024) “An Autonomous Guidewire Delivery Method With Distal Position-Based Impedance Control”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2024.3368764.
  Keywords: Robots; Surgery; Force; Impedance; Safety; Instruments; Force feedback; Leader-follower; impedance model; autonomous manipulation; vascular interventional surgery.

• (2024) “Optimization-Based Variable Impedance Control of Robotic Manipulator for Medical Contact Tasks”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2024.3372209.
  Keywords: Robots; Task analysis; Impedance; Force; Optimization; Manipulators; Medical diagnostic imaging; Medical Robot; Variable Impedance Control; Force Measurement; Optimization Control; Contact-Rich Task.

• (2024) “Passive Versus Active Control of Weight-on-Bit for an Ultrasonic Percussive Drill”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3360977.
  Keywords: Acoustics; Piezoelectric transducers; Drilling; Impedance; Vibrations; Surface impedance; Shape; Asteroid exploration; passive and active control; piezoelectric transducer; ultrasonic percussive drill (UPD); weight-on-bit (WOB).

• (2024) “Augmented Reality and Human–Robot Collaboration Framework for Percutaneous Nephrolithotomy: System Design, Implementation, and Performance Metrics”, in IEEE Robotics & Automation Magazine. DOI: 10.1109/MRA.2024.3358721.
  Keywords: Robots; Robot kinematics; Task analysis; Visualization; Surgery; Phantoms; Needles.

• (2024) “Impact Absorbing and Compensation for Heavy Object Catching with an Unmanned Aerial Manipulator”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3368300.
  Keywords: Manipulators; Impedance; Autonomous aerial vehicles; Trajectory; Stability analysis; Force; Safety; Aerial Systems: Mechanics and Control; Compliance and Impedance Control; Robot Safety.

• (2024) “Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic Actuator”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3366016.
  Keywords: Impedance; Springs; Force; Torque; Robots; Stability criteria; Frequency-domain analysis; Compliance and Impedance Control; Flexible Robotics; Robust Control.

• (2024) “Hierarchical Control for Partially Feasible Tasks With Arbitrary Dimensions: Stability Analysis for the Tracking Case”, in IEEE Transactions on Automatic Control. DOI: 10.1109/TAC.2024.3359685.
  Keywords: Task analysis; Robots; Jacobian matrices; Stability analysis; Trajectory; Aerospace electronics; Symmetric matrices; Compliance and impedance control; redundant robots; stability; hierarchical control; trajectory tracking.

• (2024) “EMG-Based Human Motion Analysis: A Novel Approach Using Towel Electrodes and Transfer Learning”, in IEEE Sensors Journal. DOI: 10.1109/JSEN.2024.3354307.
  Keywords: Electrodes; Electromyography; Transfer learning; Motion analysis; Impedance; Skin; Sensors; electromyography (EMG); textile electrode; transfer learning; hand gesture recognition.

• (2024) “Task-Oriented Adaptive Position/Force Control for Robotic Systems Under Hybrid Constraints”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2024.3352135.
  Keywords: Robots; Task analysis; Trajectory; Collision avoidance; Safety; Manipulators; Force; Adaptive position/force control; hybrid constraints; robotic systems; task-oriented control.

• (2024) “Data-Efficient Reinforcement Learning for Variable Impedance Control”, in IEEE Access. DOI: 10.1109/ACCESS.2024.3355311.
  Keywords: Robots; Impedance; Task analysis; Adaptation models; Reinforcement learning; Jacobian matrices; Aerospace electronics; Gaussian processes; Covariance matrices; Model-based reinforcement learning; variable impedance learning control; Gaussian processes; covariance matrix adaptation.

• (2024) “Design and Quantitative Assessment of Teleoperation-Based Human–Robot Collaboration Method for Robot-Assisted Sonography”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2024.3350524.
  Keywords: Robots; Ultrasonic imaging; Task analysis; Collaboration; Haptic interfaces; Image quality; Torque; Robot-assisted sonography; continuous and intuitive teleoperation; teleoperation control; human–robot collaboration; human–robot interface.

• (2024) “Composite Learning Image-Based Visual Servoing of Redundant Robots With Nullspace Compliance”, in IEEE Control Systems Letters. DOI: 10.1109/LCSYS.2024.3351559.
  Keywords: Cameras; Robots; Visual servoing; Robot kinematics; Convergence; Redundancy; End effectors.

• (2024) “Admittance Switching for Stability and Transparency in Human-Robot Collaborative Microsurgery”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3349811.
  Keywords: Compliance and Impedance Control; Medical Robots and Systems; Human-Robot Collaboration.

• (2024) “Safe Contact Force Generation for Robotic Thyroid Ultrasound Imaging”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2024.3349959.
  Keywords: Medical Robots and Systems; Force Control; Mechanism Design; Robotic Ultrasound; Thyroid Ultrasound.

• (2024) “Learning Variable Impedance Control for Robotic Massage With Deep Reinforcement Learning: A Novel Learning Framework”, in IEEE Systems, Man, and Cybernetics Magazine. DOI: 10.1109/MSMC.2022.3231416.
  Keywords: Deep learning; Decision making; Reinforcement learning; Games; Aerospace electronics; Impedance; Task analysis.

• (2024) “Towards Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery”, in IEEE Transactions on Medical Robotics and Bionics. DOI: 10.1109/TMRB.2024.3349626.
  Keywords: Robots; Surface impedance; Phantoms; Probes; Cameras; Surface reconstruction; Robot kinematics.

• (2024) “Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2023.3344827.
  Keywords: Adaptive stiffness; admittance control; prescribed performance; unmanned aerial manipulator (UAM); visual servoing.

• (2023) “Torque-Bounded Admittance Control With Implicit Euler Realization of Set-Valued Operators”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3342479.
  Keywords: Admittance control; boundary conditions; force control; human-robot interaction; sliding mode control.

• (2024) “Contact-RichSE(3) -Equivariant Robot Manipulation Task Learning via Geometric Impedance Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3346748.
  Keywords: Machine learning for robot control; compliance and impedance control; learning from demonstration.

• (2023) “Human-assisted Regulation of Deployment of Tethered Space Robot via Feasibility Condition Optimization and Fast Logarithmic Sliding Mode”, in IEEE Transactions on Aerospace and Electronic Systems. DOI: 10.1109/TAES.2023.3346808.
  Keywords: sliding mode control; tethered space robot; underactuated system; feasibility condition optimization; human-assisted regulation.

• (2023) “Task Space Outer-Loop Integrated DOB-Based Admittance Control of an Industrial Robot”, in IEEE Transactions on Control Systems Technology. DOI: 10.1109/TCST.2023.3340086.
  Keywords: Admittance control; admittance rendering; contact stability; integrated disturbance observer (DOB).

• (2023) “A Geometric Framework for Stiffness Mappings of Compliant Robotic Systems on the Special Euclidean Group”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2023.3323824.
  Keywords: Conservative stiffness matrix; impedance control; passivity-based control; stiffness identification; stiffness mapping; symmetry and exactness.

• (2023) “A Lightweight Shoulder Exoskeleton With a Series Elastic Actuator for Assisting Overhead Work”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3330755.
  Keywords: Clutch system; differential drive; multimodal assistance; overhead work; SEA; shoulder exoskeleton.

• (2023) “Fixed-Time Composite Neural Learning Control of Flexible Telerobotic Systems”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2023.3325425.
  Keywords: Telerobotics; Convergence; Artificial neural networks; Uncertainty; Adaptive systems; Manipulator dynamics; Backstepping.

• (2023) “Region-Based Force Control Strategy for Improving Profile Accuracy of Blade on 7-Axis Linkage Robotic Grinding System”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3325618.
  Keywords: Force; Robots; Blades; Force control; Machining; Robot sensing systems; Couplings.

• (2023) “Hybrid Force/Position Control of Multi-Mobile Manipulators for Cooperative Operation Without Force Measurements”, in IEEE Transactions on Circuits and Systems I: Regular Papers. DOI: 10.1109/TCSI.2023.3325218.
  Keywords: Manipulators; Manipulator dynamics; Robots; Wheels; Transportation; Task analysis; Robot kinematics.

• (2023) “A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3327867.
  Keywords: Robots; Torque; Gears; Couplings; Robot sensing systems; Prototypes; Shafts.

• (2023) “Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent”, in IEEE Transactions on Medical Robotics and Bionics. DOI: 10.1109/TMRB.2023.3328656.
  Keywords: Stairs; Impedance; Kinematics; Tuning; Legged locomotion; Knee; Biomimetics.

• (2023) “Unified Power and Admittance Adaptation for Safe and Effective Physical Interaction with Unmodelled Dynamic Environments”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3327679.
  Keywords: Task analysis; Admittance; Safety; Manipulator dynamics; Heuristic algorithms; Behavioral sciences; Collaboration.

• (2023) “Composite Learning Variable Impedance Robot Control With Stability and Passivity Guarantees”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3327675.
  Keywords: Physical human-robot interaction; compliance and impedance Control; adaptive control; parameter convergence.

• (2023) “Error State Probability-Based Compliance Control for Peg-in-Hole Assembly”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2023.3322566.
  Keywords: compliance control; Gaussian mixture model (GMM); Peg-in-hole assembly.

• (2023) “A Data-Driven and Personalized Stance Symmetry Controller for Robotic Ankle-Foot Prostheses: A Preliminary Investigation”, in IEEE transactions on neural systems and rehabilitation engineering. DOI: 10.1109/TNSRE.2023.3322124.
  Keywords: biomechanics; control systems; Impedance; iterative learning control; Mechanical engineering; Powered prosthetics; Prosthetics; Real-time systems; Torque; Trajectory; Tuning.

• (2023) “Feature-Engineering Enabled Multi-Objective Evolutionary Impedance Fitting Technique”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2023.3288191.
  Keywords: Equivalent circuits; Evolutionary algorithms; Industrial research; Job analysis; Market Research; Multiobjective optimization; Timing circuits.

• (2023) “Bayesian Optimization-Based Efficient Impedance Controller Tuning for Robotic Interaction with Force Feedback”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2023.3322504.
  Keywords: Bayes methods; Controller tuning; efficient tuning strategy; Force; Gaussian processes; Impedance; impedance control; real-world robotic interaction; Robots; Task analysis; Tuning.

• (2023) “Human–Robot Role Arbitration via Differential Game Theory”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2023.3320708.
  Keywords: Physical human–robot interaction; role arbitration; differential game theory.

• (2023) “Outer-Loop Admittance And Motion Control Dual Improvement via A Multi-function Observer”, in IEEE Transactions on Industrial Electronics. DOI: 10.36227/techrxiv.22698067.
  Keywords: Industrial robots; Accident prevention; Machine design; Motion control; Stiffness.

• (2023) “Multimodality Driven Impedance-Based Sim2Real Transfer Learning for Robotic Multiple Peg-in-Hole Assembly”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2023.3310505.
  Keywords: Impedance; Impedance control; Metaverse; multimodal learning; robotic multiple peg-in-hole assembly; Robots; Service robots; Shape; sim2real-based transfer learning; Task analysis; Visualization.

• (2023) “Retinal Surgical Field Realignment Based on Master-Slave Dual-Arm Surgical Robot”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2023.3301277.
  Keywords: Robotic surgery; Equations of motion; Fixed platforms; Iterative methods; Mapping; Ophthalmology; Slave robots; Surgical equipment; Transplantation (surgical).

• (2023) “Robust Variable Impedance Control for Aerial Compliant Interaction With Stability Guarantee”, in IEEE transactions on industrial informatics. DOI: 10.1109/TII.2023.3306574.
  Keywords: Aerial compliant interaction; Convergence; Force; Impedance; Manipulator dynamics; Numerical stability; robust variable impedance control; stability conditions; Stability criteria; Task analysis; variable impedance dynamics.

• (2023) “sEMG-based Adaptive Cooperative Multi-mode Control of a Soft Elbow Exoskeleton Using Neural Network Compensation”, in IEEE transactions on neural systems and rehabilitation engineering. DOI: 10.1109/TNSRE.2023.3306201.
  Keywords: active participation; adaptive cooperative multi-mode control; Admittance; Backstepping; Elbow; Exoskeletons; neural network compensation; sEMG; Sliding mode control; Soft elbow exoskeleton; Torque; Training.

• (2023) “Adaptive Force Tracking Impedance Control for Aerial Interaction in Uncertain Contact Environment Using Barrier Function”, in IEEE transactions on automation science and engineering. DOI: 10.1109/TASE.2023.3301023.
  Keywords: Adaptation models; adaptive impedance control; Aerial interaction; Autonomous aerial vehicles; barrier function; Convergence; Force; Impedance; Manipulators; uncertain contact environment; Uncertainty.

• (2023) “Nonlinear Subsystem-based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-rich Tasks”, in IEEE robotics and automation letters. DOI: 10.1109/LRA.2023.3302616.
  Keywords: Adaptive Control; Compliance and Impedance Control; Computer Science - Robotics; Control systems design; Controllers; Degrees of freedom; Exoskeletons; Haptic interfaces; Haptics; Haptics and Haptic Interfaces; Human-robot interaction; Impedance; Physical Human-Robot Interaction; Robot control; Robots; Stability criteria; Subsystems; Task analysis; Virtual environments.

• (2023) “Observer-Based Variable Impedance Control Using Moving Horizon Estimation for Robot Machining Thin-Walled Workpieces”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2023.3292856.
  Keywords: Impedance; Machining; Force; Service robots; Robot sensing systems; Task analysis; Surface impedance; Intelligent and flexible manufacturing; moving horizon estimation; robot-environment interaction; robotic machining; variable impedance control.

• (2023) “Adaptive Time-Varying Barrier Lyapunov Function-Based Model-Free Hybrid Position/Force Control for Series Elastic Actuator-Based Manipulator”, in IEEE Transactions on Circuits and Systems II: Express Briefs. DOI: 10.1109/TCSII.2023.3297600.
  Keywords: Force control; Force; Adaptation models; Position control; Trajectory; Uncertainty; Tracking loops; Model-free control; Barrier Lyapunov function; Adaptive control; Series elastic actuator; Hybrid position/force control.

• (2023) “Hybrid Force/Position Control for Switchable Unmanned Aerial Manipulator Between Free Flight and Contact Operation”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2023.3294254.
  Keywords: Control systems; Switches; Task analysis; Stability analysis; Impedance; Robots; Estimation; Unmanned aerial manipulator; contact operation; switch system; contact force control; force estimation.

• (2023) “Distributed Observer-Based Prescribed Performance Control for Multi-Robot Deformable Object Cooperative Teleoperation”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2023.3292553.
  Keywords: Robots; Force; Dynamics; Observers; Jacobian matrices; Deformation; Torque; Cooperative teleoperation; multi-robot system; deformable object manipulation; barrier Lyapunov functions; distributed observer.

• (2023) “Iterative Learning Control for Cascaded Impedance-Controlled Compliant Exoskeleton With Adaptive Reaction to Spasticity”, in IEEE Transactions on Instrumentation and Measurement. DOI: 10.1109/TIM.2023.3286004.
  Keywords: Impedance; Exoskeletons; Torque; Actuators; Fuzzy logic; Electromyography; Trajectory; Compliant actuator; electromyography (EMG); fuzzy logic; iterative learning control (ILC); rehabilitation robots.

• (2023) “Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2023.3286045.
  Keywords: Impedance; Force; Robots; Sensors; Robot sensing systems; Optical sensors; Optical switches; Contact transition; impact reduction; optical proximity sensor; sensor-based reactive control.

• (2023) “Impedance Learning for Human-Guided Robots in Contact With Unknown Environments”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2023.3281483.
  Keywords: Robots; Impedance; Task analysis; Force; Stability analysis; Trajectory; Ethics; Human–robot–environment interaction control; impedance control; learning control.

• (2023) “Predefined-time Sensorless Admittance Tracking Control for Teleoperation Systems with Error Constraint and Personalized Compliant Performance”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2023.3288169.
  Keywords: Tracking; Robot sensing systems; Uncertainty; Upper bound; Observers; Electromyography; Trajectory; Teleoperation; Admittance control; Observer; Sliding mode control; Predefined-time stability.

• (2023) “Robust Admittance Control With Complementary Passivity”, in IEEE Control Systems Letters. DOI: 10.1109/LCSYS.2023.3286812.
  Keywords: Admittance control; Robots; Robustness; Force; Q measurement; Linear systems; Human-robot interaction; Human-robot interaction; Robust admittance control; Multi-objective complementary control.

• (2023) “Task-Based Human-Robot Collaboration Control of Supernumerary Robotic Limbs for Overhead Tasks”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3285474.
  Keywords: Task analysis; Collaboration; Robots; Robot kinematics; Data models; Trajectory; Real-time systems; Wearable robotics; human-robot collaboration; human performance augmentation; supernumerary robotic limbs (SRLs).

• (2023) “Task Space Compliant Control and Six-Dimensional Force Regulation Toward Automated Robotic Ultrasound Imaging”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2023.3282974.
  Keywords: Robots; Force; Imaging; Robot sensing systems; Probes; Aerospace electronics; Task analysis; Robotic ultrasound; admittance control; force control; coupled stability.

• (2023) “Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3281884.
  Keywords: Robots; Trajectory; Force; Mathematical models; Dynamics; Feature extraction; Task analysis; Rehabilitation robotics; Learning from demonstrations; Reversible Dynamic Movement Primitives; Gaussian Mixture Regression; Parallel robot.

• (2023) “Event-Triggered Adaptive Neural Impedance Control of Robotic Systems”, in IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2023.3278301.
  Keywords: Integrated circuits; Control systems; Impedance; Force; Artificial neural networks; Adaptive systems; Uncertainty; Adaptive control; event-triggered control (ETC); impedance control (IC); neural network (NN); robotic system.

• (2023) “Force Control of a Grinding Robotic Manipulator With Floating Base Via Model Prediction Optimization Control”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3276220.
  Keywords: Manipulators; Robots; Force; Impedance; Springs; Surface impedance; Couplings; Grinding robot; model-based prediction control; optimal impedance control.

• (2023) “Compliant Control of Flexible Joint by Dual-Disturbance Observer and Predictive Feedforward”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3272364.
  Keywords: Torque; Trajectory; 3-DOF; Admittance; Transfer functions; Impedance; Estimation; Admittance control; disturbance observer (DOB); flexible joint; force estimation; impedance control; sensitivity; trajectory prediction.

• (2023) “Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control: Retargeting Human Commands to Feasible Robot Control References”, in IEEE Robotics & Automation Magazine. DOI: 10.1109/MRA.2023.3270222.
  Keywords: Robots; Task analysis; Collaboration; Robot kinematics; Service robots; Impedance; Admittance.

• (2023) “Passive Model Predictive Impedance Control for Safe Physical Human-Robot Interaction”, in IEEE Transactions on Cognitive and Developmental Systems. DOI: 10.1109/TCDS.2023.3275217.
  Keywords: Robots; Impedance; Task analysis; Predictive models; Human-robot interaction; Aerospace electronics; Torque; Physical human-robot interaction; impedance control; passivity; model predictive control.

• (2023) “Hybrid Force-Impedance Control for Fast End-Effector Motions”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2023.3270036.
  Keywords:

• (2023) “A Dual-Arm Robot Cooperation Framework Based on a Nonlinear Model Predictive Cooperative Control”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3263357.
  Keywords: Robots; Force; Indexes; Robot kinematics; Task analysis; Predictive models; Tracking; Cooperative control; cooperative index; dual-arm robot; nonlinear model predictive control (MPC).

• (2023) “A DMP-Based Motion Generation Scheme for Robotic Mirror Therapy”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2023.3255218.
  Keywords: Robots; Muscles; Trajectory; Mirrors; Medical treatment; Impedance; Electromyography; Dynamic movement primitive (DMP); rehabilitation robot; reinforcement learning; robotic mirror therapy.

• (2024) “A Variable Impedance Skill Learning Algorithm Based on Kernelized Movement Primitives”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2023.3250746.
  Keywords: Heuristic algorithms; Hidden Markov models; Impedance; Kernel; Kernelized movement primitives; learning from demonstrations; MV-GP; Robots; Task analysis; Trajectory; variable impedance control.

• (2023) “Modified Dynamic Movement Primitives: Robot Trajectory Planning and Force Control Under Curved Surface Constraints”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2022.3158029.
  Keywords: Adaptive force control; curved surface; Force; Force control; Impedance; modified dynamic movement primitive (DMP); redundant robot; Robots; Task analysis; Trajectory; trajectory planning; Trajectory planning.

• (2023) “Adaptive Fuzzy Neural Network Command Filtered Impedance Control of Constrained Robotic Manipulators With Disturbance Observer”, in IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2021.3113044.
  Keywords: Adaptive systems; Artificial neural networks; Command filter; disturbance observer; Disturbance observers; full-state constraints; fuzzy neural network (NN); Impedance; impedance control; input saturation.; Manipulator dynamics; Robots; Trajectory.

• (2023) “Vision-Based Impedance Control of an Aerial Manipulator Using a Nonlinear Observer”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2022.3176743.
  Keywords: Aerial manipulator; Cameras; image-based visual servoing (IBVS); Impedance; impedance control; line features; Manipulators; nonlinear observer; Observers; Task analysis; virtual camera.; Visual servoing; Visualization.

• (2023) “Vision-Based Virtual Impedance Control for Robotic System Without Prespecified Task Trajectory”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2022.3199917.
  Keywords: Impedance; Neural network; potential field; Robot kinematics; robotic system; Robots; Service robots; Task analysis; Trajectory; virtual impedance control; visual sensing; Visualization.

• (2023) “Vision-Based Hierarchical Impedance Control of an Aerial Manipulator”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2022.3203755.
  Keywords: Aerial manipulation; Aerodynamics; Aerospace electronics; Cameras; hierarchical control; image-based visual servoing (IBVS); Impedance; impedance control; Manipulators; Task analysis; Visual servoing.

• (2023) “Visual-Impedance-Based Human–Robot Cotransportation With a Tethered Aerial Vehicle”, in IEEE Transactions on Industrial Informatics. DOI: 10.1109/TII.2023.3240582.
  Keywords: aerial vehicles; Autonomous aerial vehicles; Cameras; Force; Impedance; impedance control; Physical human-robot interaction; Robots; Vehicle dynamics; visual servoing; Visualization.

• (2023) “Repetitive Impedance Learning-Based Physically Human–Robot Interactive Control”, in IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2023.3243091.
  Keywords: Dynamics; Force; Impedance; Impedance control; impedance learning; iterative learning; physical human–robot interaction (PHRI); repetitive learning control; robot control; Robot kinematics; Robot sensing systems; Robots; Task analysis.

• (2023) “Choosing Stiffness and Damping for Optimal Impedance Planning”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2022.3216078.
  Keywords: Control; End effectors; impedance; Impedance; Jacobian matrices; planning; Planning; Robots; Sensors; Task analysis.

• (2023) “Image-Based Visual Impedance Force Control for Contact Aerial Manipulation”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2022.3162207.
  Keywords: Aerial manipulation; Cameras; Force; force tracking; Impedance; impedance control; Target tracking; Task analysis; Visual servoing; Visualization.

• (2023) “Adaptive Intention-Driven Variable Impedance Control for Wearable Robots With Compliant Actuators”, in IEEE Transactions on Control Systems Technology. DOI: 10.1109/TCST.2022.3222728.
  Keywords: Adaptation models; Dynamics; Estimation; Hidden Markov models; Human motion intention; Impedance; Robots; stochastic analysis; variable impedance control; wearable robots; Wearable robots.

• (2022) “RRT* and Goal-Driven Variable Admittance Control for Obstacle Avoidance in Manual Guidance Applications”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3142887.
  Keywords: Admittance; Collision avoidance; Compliance and impedance control; Damping; Force; human-robot collaboration; Manuals; physical human-robot interaction; Robots; Shape.

• (2022) “Ultrasound-Guided Assistive Robots for Scoliosis Assessment With Optimization-Based Control and Variable Impedance”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3186504.
  Keywords: End effectors; Impedance; learning from demonstration; Medical robots and systems; optimization and optimal control; physical human-robot interaction; Probes; Robot kinematics; Robots; Task analysis; task and motion planning; Ultrasonic imaging.

• (2022) “Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2021.3123356.
  Keywords: Adaptation models; Dynamical systems (DS); Force; Impedance; learning from demonstration (LfD); Manipulator dynamics; Robots; soft tissues; Task analysis; Trajectory; variable-impedance skill transfer.

• (2022) “Model Predictive Variable Impedance Control of Manipulators for Adaptive Precision-Compliance Tradeoff”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2022.3204350.
  Keywords: Aerospace electronics; Cost function; Impedance; Model predictive control; optimization; precision-compliance tradeoff; Prediction algorithms; Predictive models; Robots; Task analysis; variable impedance control (VIC).

• (2022) “Model-Based Actor−Critic Learning of Robotic Impedance Control in Complex Interactive Environment”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2021.3134082.
  Keywords: Actor−critic learning; Force; human−robot interaction; Impedance; impedance control; Indexes; robot machining; Robots; Safety; Service robots; Task analysis.

• (2022) “Automated Off-Line Generation of Stable Variable Impedance Controllers According to Performance Specifications”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3160593.
  Keywords: compliance and impedance control; Force; Impedance; Indexes; Modulation; optimization and optimal control; Physical human-robot interaction; Robots; Stability criteria; Task analysis.

• (2022) “A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3187258.
  Keywords: Compliance and impedance control; Force; imitation learning; Impedance; mobile mani- pulation; Robot sensing systems; Sensors; Task analysis; Torque; Trajectory.

• (2022) “Spatial Repetitive Impedance Learning Control for Robot-Assisted Rehabilitation”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2022.3221931.
  Keywords: Adaptive control; Impedance; impedance learning; iterative learning control; Iterative methods; Legged locomotion; Regulation; rehabilitation robot; repetitive learning control; robot control; Robots; spatial periodicity; Task analysis; Time-domain analysis.

• (2022) “A Unified Parametric Representation for Robotic Compliant Skills With Adaptation of Impedance and Force”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2021.3109160.
  Keywords: Biomimetic control; compliant manipulation; Force; human–robot physical interaction; Impedance; impedance and force learning; learning from human demonstrations (LfHD); Mechatronics; Robots; Task analysis; Trajectory.

• (2022) “EMG-Based Variable Impedance Control With Passivity Guarantees for Collaborative Robotics”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3149575.
  Keywords: Collaboration; Compliance and Impedance Control; Electromyography; Force measurement; Human-Robot Collaboration; Impedance; Physical Human-Robot Interaction; Robot sensing systems; Robots; Task analysis.

• (2022) “In-Hand Admittance Controller for a Robotic Assistive Walker Based on Tactile Grasping Feedback”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3188890.
  Keywords: Admittance; Force and tactile sensing; Grasping; Legged locomotion; physical human-robot interaction; physically assistive devices; Robot kinematics; Robot sensing systems; Robots; Skin.

• (2022) “Adaptive Fractional-Order Sliding Mode Control for Admittance-Based Telerobotic System With Optimized Order and Force Estimation”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2021.3078385.
  Keywords: Estimation; Force; Fractional-order system; neural network based estimation; Numerical stability; sliding mode control (SMC); Stability criteria; telerobotic system; Telerobotics; Trajectory; Uncertainty.

• (2022) “Human-Robot Variable Impedance Skills Transfer Learning Based on Dynamic Movement Primitives”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3154469.
  Keywords: Bioinspired robot learning; dynamic movement primitives (DMPs); Electromyography; human factors and human-in-the-loop; Impedance; learning from demonstration (LfD); Muscles; Robot sensing systems; Robots; Task analysis; Trajectory; variable impedance skill transfer.

• (2022) “Extended Sliding Mode Observer-Based Admittance Control for Hydraulic Robots”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3147244.
  Keywords: admittance control; contact force estimation; Dynamics; End effectors; Extended sliding mode observer; Force; hydraulic robots; Hydraulic systems; Impedance; Robots; Uncertainty.

• (2022) “Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3147566.
  Keywords: Attenuation; Couplings; deflection-domain control; Force; Impedance; Potential energy; Robots; Safety in HRI; Springs; telerobotics and teleoperation; variable impedance.

• (2022) “Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators”, in IEEE Transactions on Human-Machine Systems. DOI: 10.1109/THMS.2021.3129708.
  Keywords: Compliant robots; continuum manipulators; control; finite-time stabilization; Impedance; Kinematics; Manipulator dynamics; Manipulators; Observers; Robots; Task analysis; variable impedance.

• (2022) “Adaptive Neural Network-Based Finite-Time Impedance Control of Constrained Robotic Manipulators With Disturbance Observer”, in IEEE Transactions on Circuits and Systems II: Express Briefs. DOI: 10.1109/TCSII.2021.3109257.
  Keywords: Adaptive neural network; Adaptive systems; Artificial neural networks; command filtered; disturbance observer; Disturbance observers; finite-time control; full state constraints; Impedance; Manipulator dynamics; Mathematical model; Trajectory.

• (2022) “Impedance Control of a Wrist Rehabilitation Robot Based on Autodidact Stiffness Learning”, in IEEE Transactions on Medical Robotics and Bionics. DOI: 10.1109/TMRB.2022.3194528.
  Keywords: Actuators; Anatomical stiffness prediction; biomimetic muscle actuators (BMA); End effectors; Impedance; impedance control; Koopman operator; Medical treatment; non-linear control; Parallel robots; Robots; Wrist; wrist rehabilitation robot.

• (2022) “Impedance Learning-Based Adaptive Control for Human–Robot Interaction”, in IEEE Transactions on Control Systems Technology. DOI: 10.1109/TCST.2021.3107483.
  Keywords: Autonomous impedance variation; Dynamics; Force; Impedance; nonlinear adaptive control; physical human–robot interaction (pHRI); Robot sensing systems; robot stability; Robots; Stability analysis; Task analysis; uniform ultimate boundedness (UUB).

• (2022) “Robust Admittance Control for Human Arm Strength Augmentation With Guaranteed Passivity: A Complementary Design”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2022.3191469.
  Keywords: Admittance control; human strength augmentation; Load modeling; multi-objective complementary control; passivity; Picture archiving and communication systems; Regulators; Robustness; Torque; Uncertainty.

• (2022) “Gait Prediction and Variable Admittance Control for Lower Limb Exoskeleton With Measurement Delay and Extended-State-Observer”, in IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2022.3152255.
  Keywords: Deep-Gaussian-process (DGP)-based gait prediction; Delays; Exoskeletons; extend-state observer (ESO); human-exoskeleton cooperative motion; Impedance; measurement delay; Task analysis; Torque; Trajectory; Uncertainty; variable admittance controller.

• (2022) “Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2021.3099310.
  Keywords: Control systems; Impedance; Impedance/admittance control; robotic wrist; Robots; Rotors; spherical motor; spherical wrist; Switches; Torque; Wrist.

• (2022) “Fuzzy Enhanced Adaptive Admittance Control of a Wearable Walking Exoskeleton With Step Trajectory Shaping”, in IEEE Transactions on Fuzzy Systems. DOI: 10.1109/TFUZZ.2022.3162700.
  Keywords: Adaptive fuzzy control; admittance control; Exoskeletons; Force; Hip; Legged locomotion; Robot kinematics; Robots; step trajectory shaping; Trajectory; walking exoskeleton.

• (2022) “An Optimal Variable Impedance Control With Consideration of the Stability”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3141759.
  Keywords: demonstration learning; Heuristic algorithms; Impedance; Optimization; Robots; stability and optimality; Stability criteria; Task analysis; Trajectory; Variable impedance control.

• (2022) “Perturbation-Based Stiffness Inference in Variable Impedance Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3187866.
  Keywords: Compliance and impedance control; Force measurement; learning from demonstration; Manipulators; Perturbation methods; probabilistic inference; Robot sensing systems; Robots; Task analysis; Trajectory.

• (2022) “A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3194326.
  Keywords: compliance and impedance control; Cost function; Impedance; Kinematics; Knee; learning from demons- tration; Legged locomotion; Reinforcement learning; Robots; Tuning; wearable robotics.

• (2022) “Impedance Variation and Learning Strategies in Human–Robot Interaction”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2020.3043798.
  Keywords: Damping; End effectors; Force; Human–robot interaction (HRI); Impedance; impedance and admittance models; impedance control; impedance learning; impedance variation; Robot kinematics; robot learning; robot stability; Robots; Task analysis.

• (2022) “Adaptive-Constrained Impedance Control for Human–Robot Co-Transportation”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2021.3107357.
  Keywords: Collaboration; Error constraint; Force feedback; Human-robot interaction; human–robot co-transportation; input constraint; Neural networks; neural networks (NNs); Robot sensing systems; Robots; vision and force sensing.

• (2022) “Neural Networks Enhanced Optimal Admittance Control of Robot–Environment Interaction Using Reinforcement Learning”, in IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2021.3057958.
  Keywords: Adaptive control; Admittance; admittance control; Artificial neural networks; Impedance; Learning systems; Manipulators; neural networks (NNs); reinforcement learning (RL); robot–environment interaction; Trajectory; Uncertainty.

• (2022) “Robust Admittance Control of Optimized Robot-Environment Interaction Using Reference Adaptation”, in IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2021.3131261.
  Keywords: Adaptation models; Adaptive dynamic programming (ADP); Admittance; admittance control; Force; Impedance; neural networks (NNs); reference adaptation; robot-environment interaction; Robots; Task analysis; Trajectory.

• (2022) “Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning”, in IEEE/CAA Journal of Automatica Sinica. DOI: 10.1109/JAS.2021.1004258.
  Keywords: Adaptation models; Adaptive impedance control; Aerospace electronics; data-driven method; End effectors; Human-robot interaction; human-robot interaction (HRI); Impedance; Numerical simulation; reinforcement learning; Reinforcement learning; velocity-free.

• (2022) “Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2021.3078317.
  Keywords: Impedance; Impedance control; Kinematics; Knee; knee prosthesis; Legged locomotion; policy iteration; Prosthetics; rehabilitation robotics; reinforcement learning (RL); Robustness; Tuning.

• (2022) “Simultaneous Quantification of Ankle, Muscle, and Tendon Impedance in Humans”, in IEEE Transactions on Biomedical Engineering. DOI: 10.1109/TBME.2022.3175646.
  Keywords: Ankle impedance; Biomedical measurement; Impedance; Leg; muscle; Muscles; stiffness; system identification; System identification; tendon; Tendons; Ultrasonic imaging; ultrasound imaging.

• (2022) “Unified Method for Task-Space Motion/Force/Impedance Control of Manipulator With Unknown Contact Reaction Strategy”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3139675.
  Keywords: Adaptive robust control; Aerospace electronics; Force; force control; Impedance; Manipulator dynamics; Manipulators; motion control; redundant robots; Robots; Task analysis.

• (2022) “Detection and Estimation of Cognitive Conflict During Physical Human-Robot Collaboration”, in IEEE Transactions on Cognitive and Developmental Systems. DOI: 10.1109/TCDS.2022.3205168.
  Keywords: Admittance; Clocks; Electroencephalography; Games; Human-robot interaction; Robots; Task analysis.

• (2022) “Learning to Assemble Noncylindrical Parts Using Trajectory Learning and Force Tracking”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2021.3110825.
  Keywords: Assembly skill; Force; Hidden Markov models; Impedance; impedance control; learning from demonstration; movement primitives (MPs); Robots; Task analysis; Training; Trajectory.

• (2022) “A Novel Interaction Controller Design for Robotic Manipulators With Arbitrary Convergence Time”, in IEEE Transactions on Circuits and Systems II: Express Briefs. DOI: 10.1109/TCSII.2021.3128958.
  Keywords: Admittance; arbitrary-time convergence; Convergence; Force; Interaction control; nonlinear force observer; Observers; Robot kinematics; Robot sensing systems; robotic manipulator; Robots.

• (2022) “Variable Impedance Skill Learning for Contact-Rich Manipulation”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2022.3187276.
  Keywords: Aerospace electronics; Behavioral sciences; End effectors; Impedance; Machine learning for robot control; reinforcement learning; Robots; Task analysis; Trajectory; variable impedance control.

• (2022) “Model-Free Adaptive Impedance Control for Autonomous Robotic Sanding”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2021.3126743.
  Keywords: Belts; Impedance; impedance control; Robot kinematics; Robots; Sanding robot; stability analysis; Stability analysis; structured-light technology; Surface impedance.

• (2022) “Adaptive Robust Impedance Control for an Ear Surgical Device With Soft Interaction”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2021.3087014.
  Keywords: Adaptation models; Adaptive control; Analytical models; compliance control; Ear; Force; Impedance; medical devices; Performance evaluation; piezoelectric devices; robustness; Surgery.

• (2021) “HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems”, in IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING. DOI: 10.1109/TNSRE.2021.3098062.
  Keywords: Impedance;Haptic interfaces;Robots;Force;Task analysis;Robot sensing systems;Fractals;Haptics;force;position control;human-robot interaction.

• (2021) “Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3062015.
  Keywords: Acceleration; Damping; Impedance; impedance control; intent recognition; Physical human-robot interaction; Robots; Stability criteria; Task analysis; Torque; wearable robots.

• (2021) “Unified Neural Adaptive Control for Multiple Human–Robot–Environment Interactions”, in IEEE Transactions on Industrial Informatics. DOI: 10.1109/TII.2020.2977051.
  Keywords: Adaptation models; Adaptive control; Admittance control; Dynamics; Force; human–robot–environment interaction (HREI); iterative least squares (ILS) method; momentum observer; neural adaptive control; Observers; Robot sensing systems.

• (2021) “Optimal Robot–Environment Interaction Under Broad Fuzzy Neural Adaptive Control”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2020.2998984.
  Keywords: Adaptation models; Artificial neural networks; Broad learning system (BLS); Fuzzy control; Fuzzy neural networks; fuzzy-logic control; Impedance; impedance adaptation; Manipulators; neural network (NN); state constraints.

• (2021) “Optimized Impedance Adaptation of Robot Manipulator Interacting With Unknown Environment”, in IEEE Transactions on Control Systems Technology. DOI: 10.1109/TCST.2020.2971944.
  Keywords: Adaptive dynamic programming (ADP); Dynamics; Force; Impedance; Manipulator dynamics; optimized impedance adaptation; output feedback; robot–environment interaction; Trajectory; unknown environment.

• (2021) “Skill Learning Strategy Based on Dynamic Motion Primitives for Human–Robot Cooperative Manipulation”, in IEEE Transactions on Cognitive and Developmental Systems. DOI: 10.1109/TCDS.2020.3021762.
  Keywords: Admittance; Admittance control; Aerospace electronics; dynamic motion primitives (DMPs); exoskeleton robot; Exoskeletons; Gaussian mixture model (GMM); human–robot cooperative manipulation; integral barrier Lyapunov function (IBLF); Robot motion; Task analysis; Trajectory.

• (2021) “Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion”, in IEEE Transactions on Systems, Man, and Cybernetics: Systems. DOI: 10.1109/TSMC.2019.2930582.
  Keywords: Approximate dynamic inversion (ADI); Control theory; Convergence; Dynamics; Force; Impedance; impedance control; robot control; Robots; Stability analysis; trajectory tracking; variable impedance.

• (2021) “Unified Motion/Force/Impedance Control for Manipulators in Unknown Contact Environments Based on Robust Model-Reaching Approach”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2021.3081594.
  Keywords: Dynamics; Force; Force control; Impedance; impedance control; manipulator control; Manipulator dynamics; Target tracking; Tracking; Trajectory; trajectory adaptation; unknown environment.

• (2021) “Maxwell-Model-Based Compliance Control for Human–Robot Friendly Interaction”, in IEEE Transactions on Cognitive and Developmental Systems. DOI: 10.1109/TCDS.2020.2992538.
  Keywords: Admittance control; compliance control; Force; Human-robot interaction; Impedance; Mathematical model; Maxwell model; null space; plastic deformation; Robots; Shock absorbers; Springs.

• (2021) “A Framework for Autonomous Impedance Regulation of Robots Based on Imitation Learning and Optimal Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2020.3033260.
  Keywords: Ellipsoids; Imitation learning; Impedance; Optimal control; optimization and optimal control; physical human-robot interaction; Robots; Task analysis; Trajectory.

• (2021) “Minimally Model-Based Trajectory Tracking and Variable Impedance Control of Flexible-Joint Robots”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2020.2994886.
  Keywords: Flexible-joint robots; human–robot interaction; Impedance; impedance control; Modulation; Regulation; Robots; Task analysis; Torque; Trajectory tracking.

• (2021) “Neural-Learning-Based Force Sensorless Admittance Control for Robots With Input Deadzone”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2020.2991929.
  Keywords: Adaptation models; Adaptive control; Admittance; admittance control; Artificial neural networks; broad learning; Dynamics; Force; force/torque observer; neural networks (NNs); Robot sensing systems.

• (2021) “Voluntary Control of an Ankle Joint Exoskeleton by Able-Bodied Individuals and Stroke Survivors Using EMG-Based Admittance Control Scheme”, in IEEE Transactions on Biomedical Engineering. DOI: 10.1109/TBME.2020.3012296.
  Keywords: Admittance; Admittance control; Electromyography; Exoskeletons; Human-robot cooperation control; Muscles; Robot-assisted rehabilitation; Robots; Stability analysis; Stroke; Surface electromyography (sEMG); Torque.

• (2021) “Biologically-Inspired Impedance Control With Hysteretic Damping”, in IEEE Control Systems Letters. DOI: 10.1109/LCSYS.2020.3044101.
  Keywords: Biologically-inspired methods; Damping; Frequency control; hysteretic damping; Impedance; PD control; Robots; switched systems; Switches; Time-domain analysis.

• (2021) “Bayesian Estimation of Human Impedance and Motion Intention for Human–Robot Collaboration”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2019.2940276.
  Keywords: Adaptive impedance control; Bayes methods; Bayesian estimation; Dynamics; Estimation; Force; human impedance; human motion intention estimation; Impedance; neural networks (NNs); Robots; Task analysis.

• (2021) “A Unified Approach for Virtual Fixtures and Goal-Driven Variable Admittance Control in Manual Guidance Applications”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3093283.
  Keywords: Admittance; Compliance and impedance control; End effectors; Force; Geometry; Haptic interfaces; human-robot collaboration; physical human-robot interaction; Shape; Task analysis.

• (2021) “Compliant Force Sensor-Less Capture of an Object in Orbit”, in IEEE Transactions on Aerospace and Electronic Systems. DOI: 10.1109/TAES.2020.3027108.
  Keywords: Compliant capture; Force; Impedance; impedance control; Manipulators; Orbits; Satellites; space robot; Space vehicles.

• (2021) “Adaptive Human Force Scaling via Admittance Control for Physical Human-Robot Interaction”, in IEEE Transactions on Haptics. DOI: 10.1109/TOH.2021.3071626.
  Keywords: adaptive force amplification; Admittance; admittance control; Admittance control; Collaboration; collaborative manipulation; Fitts’ task; Force; Human factors; human intention; Human-robot interaction; Physical human-robot interaction.

• (2021) “Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3068951.
  Keywords: Computational modeling; Humanoid and bipedal locomotion; Impedance; Legged locomotion; legged robots; motion control; Optimal control; optimization and optimal control; Robots; Task analysis; Trajectory.

• (2021) “Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3061374.
  Keywords: Aerospace electronics; Compliance and impedance control; Force; Impedance; learning from demonstration; machine learning for robot control; Reinforcement learning; Robots; Task analysis; Trajectory.

• (2021) “Simultaneously Encoding Movement and sEMG-Based Stiffness for Robotic Skill Learning”, in IEEE Transactions on Industrial Informatics. DOI: 10.1109/TII.2020.2984482.
  Keywords: Adaptive impedance control; Force; Hidden Markov models; human–robot interaction systems; Impedance; Manipulators; multimodality; Muscles; Task analysis.

• (2021) “Admittance Control With Unknown Location of Interaction”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3067618.
  Keywords: Admittance; Admittance measurement; Aerospace electronics; Compliance and impedance control; Force; force control; physical human-robot interaction; Robot sensing systems; Robots; Task analysis.

• (2021) “A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2021.3051615.
  Keywords: Actuators; Damping; environmental stiffness; Force; Force control; Friction; high-stiffness control; Impedance; Impedance controller; series elastic actuator; Springs; virtual damping; virtual stiffness.

• (2021) “A Scalable Framework for Multi-Robot Tele-Impedance Control”, in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2021.3071530.
  Keywords: Control systems; Impedance; Manipulators; Medical application; multi-robot control; Multi-robot systems; Robot kinematics; Robots; Scalability; tele-impedance.

• (2020) “An Improved Force Controller With Low and Passive Apparent Impedance for Series Elastic Actuators”, in IEEE/ASME transactions on mechatronics. DOI: 10.1109/TMECH.2020.2970532.
  Keywords: Actuators; Bandwidth; Disturbance observer; Exoskeletons; force control; Impedance; interaction control; PD control; robust control; series elastic actuators; Torque; Tuning.

• (2020) “Admittance-Based Controller Design for Physical Human–Robot Interaction in the Constrained Task Space”, in IEEE Transactions on Automation Science and Engineering. DOI: 10.1109/TASE.2020.2983225.
  Keywords: Adaptive neural network (NN) control; Admittance; admittance control; Human-robot interaction; integral barrier Lyapunov function (IBLF); Lyapunov methods; Manipulator dynamics; motion constraint; Neural networks; physical human–robot interaction (pHRI); Service robots.

• (2020) “Compliant Control and Compensation for A Compact Cable-Driven Robotic Manipulator”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2020.3007382.
  Keywords: compliance and impedance control; Dentistry; Hysteresis motors; Impedance; Kinematics; Manipulators; mechanism design; Medical robots and systems.

• (2020) “Design and Force-Tracking Impedance Control of 2-DOF Wall-Cleaning Manipulator via Disturbance Observer”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2020.2978251.
  Keywords: Brushes; Cleaning; Disturbance observer (DOB); Force; force-tracking; Impedance; impedance control; Manipulator dynamics; wall-cleaning.

• (2020) “Relative Impedance-Based Internal Force Control for Bimanual Robot Teleoperation With Varying Time Delay”, in IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2019.2907446.
  Keywords: Delay effects; Force; Force control; Impedance; Internal haptic forces; linear matrix inequalities (LMIs); relative impedance; Robot sensing systems; teleoperation; time delay; Tracking.

• (2020) “Passivity Preservation for Variable Impedance Control of Compliant Robots”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2019.2961478.
  Keywords: Damping; Human-robot interaction; Impedance; impedance control; manipulators; Modulation; Robots; Stability analysis; Task analysis; Torque.

• (2020) “Human-Inspired Control of Dual-Arm Exoskeleton Robots With Force and Impedance Adaptation”, in IEEE Transactions on Systems, Man, and Cybernetics: Systems. DOI: 10.1109/TSMC.2018.2871196.
  Keywords: adaptive robust control; Exoskeletons; Force; human-robot interaction; Impedance; Impedance control; Manipulators; Muscles; robotic exoskeleton; stiffness identification; Task analysis.

• (2020) “A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human–Robot Cooperative Manipulation”, in IEEE Transactions on Cybernetics. DOI: 10.1109/TCYB.2018.2864784.
  Keywords: Admittance; Asymmetric barrier Lyapunov function (ABLF); exoskeleton robot; Exoskeletons; Force; Gaussian mixture; Hidden Markov models; human–robot cooperative manipulation; impedance-based task; learning human skills from demonstration; Nonlinear systems; Robots; Task analysis.

• (2020) “A Control Scheme for Smooth Transition in Physical Human-Robot-Environment Between Two Modes: Augmentation and Autonomous”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2020.3010450.
  Keywords: adaptive position/velocity control; Admittance; Force; Force control; Human-robot collaboration; Impedance; impedance/admittance control; Robot sensing systems.

• (2020) “Learning Variable Impedance Control for Contact Sensitive Tasks”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2020.3011379.
  Keywords: Aerospace electronics; compliance and impedance control; Impedance; motion control; PD control; Reinforcement learning; Robots; Robustness; Task analysis; Uncertainty.

• (2019) “Robust Impedance-Matching of Manipulators Interacting With Uncertain Environments: Application to Task Verification of the Space Station’s Dexterous Manipulator”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2019.2928281.
  Keywords: Contact dynamics; dexterous robotics; Dynamics; Force; force control; hardware-in-the-loop (HIL) simulation; Impedance; impedance control; Manipulator dynamics; robust control; simulating robots; space robotics; Task analysis.

• (2019) “Adaptive Impedance Control Applied to Robot-Aided Neuro-Rehabilitation of the Ankle”, in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2018.2885165.
  Keywords: adaptive controller; assist-as-needed; Force; Impedance; impedance control; Measurement; Medical treatment; neuro-rehabilitation; Rehabilitation robotics; Robots; Torque; Trajectory.

• (2016) “A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots”, in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2015.2465849.
  Keywords: Active compliance; Active Compliance; Actuators; Admittance; admittance control; Admittance Control; compliance; Compliance; flexible joints; Flexible Joints; Force; force control; Force control; Force Control; Impedance; impedance control; Impedance Control; interaction control; Interaction Control; Joints; Robots; series elastic actuators; Series Elastic Actuators.