# Decoupled Torque Control of Series Elastic Actuator With Adaptive Robust Compensation of Time-Varying Load-Side Dynamics

> Research article (IEEE Transactions on Industrial Electronics, 2019) · cited 51× · AI/ML

**Wikidata**: [openalex:W2968260563](https://www.wikidata.org/wiki/openalex:W2968260563)  
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