Modeling, Identification and Control of Flexible-Shaft Transmissions for Antagonistic Series Elastic Actuation in Robotic Hands

Basi, Alessandro (2026) Modeling, Identification and Control of Flexible-Shaft Transmissions for Antagonistic Series Elastic Actuation in Robotic Hands. Master's, Politecnico Milano.

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Item URL in elib:

https://elib.dlr.de/223720/

Document Type:

Thesis (Master's)

Title:

Modeling, Identification and Control of Flexible-Shaft Transmissions for Antagonistic Series Elastic Actuation in Robotic Hands

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Basi, Alessandro	alessandro.basi (at) dlr.de	UNSPECIFIED	UNSPECIFIED

DLR Supervisors:

Contribution	DLR Supervisor	Institution or E-Mail	DLR Supervisor's ORCID iD
Thesis advisor	Neumann, Oliver Sebastian	Oliver.Neumann (at) dlr.de	https://orcid.org/0000-0002-5219-3065

Date:

March 2026

Open Access:

Number of Pages:

178

Status:

Published

Keywords:

flexible shaft transmission, series elastic actuation, antagonistic actuation, robotic hand, nonlinear stiffness modeling, model-based force estimation, impedance control

Institution:

Politecnico Milano

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Robotics

DLR - Research area:

Raumfahrt

DLR - Program:

R RO - Robotics

DLR - Research theme (Project):

R - Mechatronics [RO]

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems

Deposited By:

Neumann, Oliver Sebastian

Deposited On:

07 Apr 2026 12:31

Last Modified:

12 May 2026 09:08

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