# A Robust Impedance Controller Design for Series Elastic Actuators using the Singular Perturbation Theory

> Research article (IEEE/ASME Transactions on Mechatronics, 2019) · cited 41× · AI/ML

**Wikidata**: [openalex:W2989452453](https://www.wikidata.org/wiki/openalex:W2989452453)  
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