Precise and high-fidelity force control is critical for new generations of robots that interact with humans unknown environments. Mobile robots, such as wearable devices legged must also be lightweight to accomplish their function. Hydrostatic transmissions have been proposed a promising strategy meeting these two challenging requirements. In previous publications, it was shown using magnetorhe...

Title of Dissertation: Control of Smart Actuators Xiaobo Tan, Doctor of Philosophy, 2002 Dissertation directed by: Professor John S. Baras Professor P. S. Krishnaprasad Department of Electrical and Computer Engineering Hysteresis in smart materials hinders wider applicability of such materials in actuators and sensors. In this dissertation we study modeling, identification and control of hyster...