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The diversity in torque-controlled actuators has enabled researchers to address numerous physical human&#x2013;robot interaction applications with enhanced safety, dependability, and interaction capability <xref ref-type="bibr" rid="ref1">[1]</xref>. Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, series elastic actuators (SEAs) could meet these requirements <xref ref-type="bibr" rid="ref2">[2]</xref>, and they are extensively employed in state-of-the-art robot platforms <xref ref-type="bibr" rid="ref3">[3]</xref>&#x2013;<xref ref-type="bibr" rid="ref4"/><xref ref-type="bibr" rid="ref5">[5]</xref>. As a result, SEA development is garnering interest in line with the growing need in related subfields in robotics.

Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator