# A Time-Domain Approach to Control of Series Elastic Actuators: Adaptive Torque and Passivity-Based Impedance Control

> Research article (IEEE/ASME Transactions on Mechatronics, 2016) · cited 66× · AI/ML

**Wikidata**: [openalex:W2339165105](https://www.wikidata.org/wiki/openalex:W2339165105)  
**Source**: https://4ort.xyz/entity/a-time-domain-approach-to-control-of-series-elastic-actuators-adaptive-torque-and-passivity-based-impedance-control