Extension beyond the single-joint regulation setting

Investigate the coupled multi-degree-of-freedom Pi-SEA case, establish stability of Pi-SEA operation in contact with an environment, and develop a thermal model to replace the fixed macro-torque clamp used in the single-joint experiments.

Background

The presented analysis and experiments are restricted to a single joint, use a regulation-scope stability bound that depends on state scaling, and represent thermal limitations through a fixed actuator clamp rather than an explicit thermal model.

The conclusion identifies three unresolved extensions: applying the architecture and analysis to coupled multi-degree-of-freedom systems, proving stability when the actuator is interacting with an environment, and modeling thermal constraints directly instead of treating them as a fixed clamp.