Hysteresis Modeling for Torque Control of an Elastomer Series Elastic Actuator - Kim, Dong-Hyun; Oh, Jun-Ho (IEEE/ASME transactions on mechatronics, 2019)
Keywords: Actuators; Compensation; Deformation; Discrete cosine transforms; Elastomer; Elastomers; Hookes law; Humanoid; Hysteresis; hysteresis modeling; Hysteresis models; Load modeling; Model accuracy; Modelling; Production planning; Robust control; series elastic actuator; Springs; Strain; Torque; Torque control