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However, the position control dynamics of an SEA is of fourth order and includes matched and mismatched disturbances. In other words, an SEA\u2019s position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for SEAs by using disturbance observer (DOb) and sliding mode control. When the proposed robust motion controller is implemented, an SEA can precisely track desired trajectories and safely contact with an unknown and dynamic environment. The proposed motion controller does not require precise dynamic models of environments and SEAs. Therefore, it can be applied to many different advanced robotic systems such as compliant humanoids, industrial robots and exoskeletons. The validity of the proposed motion controller is experimentally verified.<\/jats:p>","DOI":"10.1017\/s0263574719000420","type":"journal-article","created":{"date-parts":[[2019,4,15]],"date-time":"2019-04-15T00:06:16Z","timestamp":1555286776000},"page":"15-28","source":"Crossref","is-referenced-by-count":31,"title":["A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4528-2545","authenticated-orcid":false,"given":"Emre","family":"Sariyildiz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rahim","family":"Mutlu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haoyong","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,4,15]]},"reference":[{"key":"S0263574719000420_ref4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21556"},{"key":"S0263574719000420_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/014233129401600206"},{"key":"S0263574719000420_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2854844"},{"key":"S0263574719000420_ref13","unstructured":"13. A. Albu-Schaffer and G. Hirzinger , \u201cState Feedback Controller for Flexible Joint Robots: A Globally Stable Approach Implemented on DLR\u2019s Light-Weight Robots,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan (31 October\u201305 November 2000)."},{"key":"S0263574719000420_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.927689"},{"key":"S0263574719000420_ref8","unstructured":"8. L. Jinoh , H. Dallali , N. Tsagarakis and D. Caldwell , \u201cRobust and Model-Free Link Position Tracking Control for Humanoid COMAN with Multiple Compliant Joints,\u201d IEEE-RAS International Conference on Humanoid Robots, Atlanta, USA (15\u201317 October 2013)."},{"key":"S0263574719000420_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354144"},{"key":"S0263574719000420_ref5","unstructured":"5. B. Celebi , M. Yalcin and V. Patoglu , \u201cAssistOn-Knee: A Self-Aligning Knee Exoskeleton,\u201d 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo (2013) pp. 996\u20131002."},{"key":"S0263574719000420_ref17","doi-asserted-by":"crossref","unstructured":"17. E. Sariyildiz , H. Wang and H. Yu , \u201cA Sliding Mode Controller Design for the Robust Position Control Problem of Series Elastic Actuators,\u201d IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore (29 May\u20133 June 2017).","DOI":"10.1109\/ICRA.2017.7989350"},{"key":"S0263574719000420_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2614503"},{"key":"S0263574719000420_ref23","unstructured":"23. J. Bae , K. Kong and M. Tomizuka , \u201cGait Phase-Based Smoothed Sliding Mode Control for a Rotary Series Elastic Actuator Installed on the Knee Joint,\u201d American Control Conference (ACC) (30 June\u20132 July 2010)."},{"key":"S0263574719000420_ref22","first-page":"1","article-title":"A guide to design disturbance observer,","volume":"136","author":"Sariyildiz","year":"2014","journal-title":"ASME Trans. J. Dyn. Sys. Meas. Control"},{"key":"S0263574719000420_ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.01.004"},{"key":"S0263574719000420_ref24","unstructured":"24. M. Wang , L. Sun , W. Yin , S. Dong and J. 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