Damping torque

Joint torque control by a direct feedback for industrial robots

J. Luh, W.D. Fisher, Rohan Paul

Citations: 170 • 1983

Design and development of high-performance torque-controlled joints

D. Vischer, Oussama Khatib

Citations: 166 • 1995

A novel self-decoupled four degree-of-freedom wrist force/torque sensor

Aiguo Song, Juan Wu, Qin Gang

Citations: 159 • 2006

Torque Estimation for Robotic Joint With Harmonic Drive Transmission Based on Position Measurements

Hongwei Zhang, Saleh Ahmad, Guangjun Liu

Citations: 107 • 2015

A Review of the State of the Art of Torque Ripple Minimization Techniques for Permanent Magnet Synchronous Motors

Muhammad Saad Rafaq, Will Midgley, Thomas Steffen

Citations: 107 • 2023

Autocompensation of torque ripple of direct drive motor by torque observer

Nobuyuki Matsui, Tatsuo Makino, Hiroaki Satoh

Citations: 100 • 1993

On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles

Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis

Citations: 80 • 2017

A fundamental mechanism of legged locomotion with hip torque and leg damping

Z H Shen, Justin Seipel

Citations: 73 • 2012

A variable physical damping actuator (VPDA) for compliant robotic joints

Matteo Laffranchi, Nikos G. Tsagarakis, Darwin G. Caldwell

Citations: 68 • 2010

Design of a Hollow Hexaform Torque Sensor for Robot Joints

Farhad Aghili, M. Buehler, John M. Hollerbach

Citations: 65 • 2001

Cr-N alloy thin-film based torque sensors and joint torque servo systems for compliant robot control

Yoshihiro Kuroki, Kosaka Yusuke, Taro Takahashi, Eiji Niwa, Hiroshi Kaminaga, Yoshihiko Nakamura

Citations: 54 • 2013

The precise control of manipulators with high joint-friction using base force/torque sensing

Guillaume Morel, Karl Iagnemma, Steven Dubowsky

Citations: 54 • 2000

Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems

Hamid D. Taghirad, Pierre Bélanger

Citations: 51 • 1998

Joint Torque Sensor Embedded in Harmonic Drive Using Order Tracking Method for Robotic Application

Byung-Jin Jung, Byung Chul Kim, Ja Choon Koo, Hyouk Ryeol Choi, Hyungpil Moon

Citations: 49 • 2017

Force/torque sensing applied to industrial robotic deburring

J. Norberto Pires, J. E. Ramming, Stephen Rauch, Ricardo Araújo

Citations: 44 • 2002

Compact and lightweight optical torque sensor for robots with increased range

Sarmad Shams, Ji Yeong Lee, Chang-Soo Han

Citations: 44 • 2011

Adaptive torque estimation of robot joint with harmonic drive transmission

Zhiguo Shi, Yuankai Li, Guangjun Liu

Citations: 43 • 2017

Intelligent built-in torque sensor for harmonic drive systems

Hamid D. Taghirad, Pierre Bélanger

Citations: 43 • 1999

Analysis and Development of a Semiactive Damper for Compliant Actuation Systems

Matteo Laffranchi, Nikos G. Tsagarakis, Darwin G. Caldwell

Citations: 40 • 2012

A novel reactive-type joint torque sensor with high torsional stiffness for robot applications

Jae-Kyung Min, Kuk-Hyun Ahn, Huichang Park, Jae-Bok Song

Citations: 39 • 2019