For safety purposes, cooperative robots are installed with an actuator composed of a low-
power servo motor, a reduction gearbox, and a torque sensor. When cooperative robots …

Force/torque control is attracting considerable attention for the realization of compliant
motion in mechatronic systems such as industrial robots and human-support robots. They …

Torsion-torque-sensing-based load-side acceleration control is proposed for a two-inertia
resonance system in this paper. This control uses a torsion torque sensor installed in a …

This paper focuses on back-forward drivability and defines the ideal drivability. This paper
proposes a new backforward drivable control method that achieves vibration suppression …

As advanced robotic technologies such as human-robot interaction and automatic assembly
processes have emerged, torque sensors have become an essential component for robots …

The conventional force control has proposed load-side torque control based on the
resonance ratio control (RRC) enhanced by an instantaneous state observer using the …

Measuring accurate torque is a core ability of advanced robotic technologies. However,
embedding torque-sensing systems into robot joints are still a challenge due to limitations …

In order to realize force sensorless fine force control, this paper proposes a new notch-type
friction-free disturbance observer (DOB) and a new notch-type friction-free reaction force …

The demand for autonomous nasopharyngeal swab sampling robot systems is increasing
owing to the recent outbreak of the respiratory virus pandemic. To protect the medical staff …

Actuators that can generate controllable compliant output motion are suitable for robots that
need to interact safely with humans or the environment. To obtain the accurate output torque …