The two-segment leg has a torque-controlled actuator at the hip, and a

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Block diagram of the controller. The SEA is torque-controlled

Alborz AGHAMALEKI SARVESTANI, R&D Scientist, Master of Science, ABB, Zürich, ABB, A1

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a) Two degree-of-freedom planar model of the human leg and

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Mechanism, Actuation, Perception, and Control of Highly Dynamic

The two-segment leg has a torque-controlled actuator at the hip

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