[Letter] Adaptive NN impedance control for an SEA-driven robot

In this letter, we propose an adaptive active impedance control combined with passive mechanical impedance, and use neural networks (NNs) to compensate for uncertainties of compliant robot’s dynamics. Taking these into account, we propose an online adaptive law to update NN weights and a complete framework about adaptive impedance control design. Simulations show the proposed method can ensure that both the accuracy and safety can be achieved.