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These systems are characterized by the presence of the \u201chuman in the loop\u201d so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based controller. Unfortunately, existing passivity-based controllers for SEAs do not define the performance of the force\/torque loop. We propose a method to obtain predictable force\/torque dynamics based on adaptive control and oversimplified human models. We propose a class of stable human-adaptive algorithms and experimentally show advantages of the proposed approach.<\/jats:p>","DOI":"10.1017\/s0263574714001519","type":"journal-article","created":{"date-parts":[[2014,7,7]],"date-time":"2014-07-07T04:05:08Z","timestamp":1404705908000},"page":"1301-1316","source":"Crossref","is-referenced-by-count":64,"title":["Human-adaptive control of series elastic actuators"],"prefix":"10.1017","volume":"32","author":[{"given":"Andrea","family":"Calanca","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paolo","family":"Fiorini","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,7,7]]},"reference":[{"key":"S0263574714001519_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050577"},{"key":"S0263574714001519_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2008.2008278"},{"key":"S0263574714001519_ref24","doi-asserted-by":"crossref","unstructured":"H. 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