@INPROCEEDINGS{6584124, author={A. Cirillo and G. De Maria and C. Natale and S. Pirozzi}, booktitle={2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics}, title={A mechatronic approach for robust stiffness estimation of variable stiffness actuators}, year={2013}, volume={}, number={}, pages={399-404}, keywords={elasticity;gears;mechatronics;optoelectronic devices;mechatronic approach;robust stiffness estimation;variable stiffness actuators;online robust estimation;motor gearbox;optoelectronic sensor;Torque;Actuators;Springs;Energy measurement;Estimation error;Accuracy}, doi={10.1109/AIM.2013.6584124}, ISSN={2159-6247}, month={July},}