Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Impedance control of a cable-driven series elastic actuator with the
  2-DOF control structure   Series elastic actuators (SEAs) are growingly important in physical
human-robot interaction (HRI) due to their inherent safety and compliance.
Cable-driven SEAs also allow flexible installation and remote torque
transmission, etc. However, there are still challenges for the impedance
control of cable-driven SEAs, such as the reduced bandwidth caused by the
elastic component, and the performance balance between reference tracking and
robustness. In this paper, a velocity sourced cable-driven SEA has been set up.
Then, a stabilizing 2 degrees of freedom (2-DOF) control approach was designed
to separately pursue the goals of robustness and torque tracking. Further, the
impedance control structure for human-robot interaction was designed and
implemented with a torque compensator. Both simulation and practical
experiments have validated the efficacy of the 2-DOF method for the control of
cable-driven SEAs.

31
The categories of this paper are: ao-sci
15
The categories of this paper are: nucl-ex
18
The categories of this paper are: econ
23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
22
The categories of this paper are: chao-dyn
5
The categories of this paper are: gr-qc
25
The categories of this paper are: patt-sol
30
The categories of this paper are: q-alg
10
The categories of this paper are: q-bio
17
The categories of this paper are: q-fin
12
The categories of this paper are: nucl-th
2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
19
The categories of this paper are: eess
13
The categories of this paper are: quant-ph