 Hello, I am Celil Umut Kenanoğlu from Human-Robot Interaction Laboratory at Sabancı University. I will present Passivity of Seri Serastic Actuation, Under-Modular References Force Control. As we know, Seri Serastic Actuation is an interaction control paradisim that relies on a compliant force sensing element and utilize the model of this compliant dynamics in closed loop force control. Here we present two-port model of the Seri Serastic Actuation plant and transfer functions that constitute the hybrid evidence matrix. In this study, we propose model reference force control for Seri Serastic Actuation as it promises to improve control performance by enabling rapid feedforward action. To construct model reference force control, first we introduce a model of the plant whose parameters may not be an exact match of the plant. Next, we introduce an inner velocity controller such that the motor velocities are matched. Similarly, we introduce an outer torque controller such that the interactions are matched. These two controllers ensured that the plant closely follows the reference models. Finally, we propose the mapped motor torques due to the desired impedance. The impedance of the closed loop system at the interaction port can be derived as shown. Studying the impedance transfer function, sufficient conditions for possibility of Seri Serastic Actuation, under model reference force control, under model mismatch can be derived as shown. Here the first condition introduced and upper bound on the stiffness of the model. The second condition introduced, lower bound on the inertia of the model. And the third condition introduced, lower bound on the damping of the model. Here condition 1 and 2 are necessary while condition 3 is sufficient. On numerical simulations, verified that case overestimated 10%, passivity is violated as predicted by the necessary conditions. We have also verified our theoretical results with physical experiments, with using Seri Serastic Actuation brake pedal. This video presents null impedance rendering performance under model reference force control. In the last video, only a 1.2 newton force is sufficient to back drive the brake pedal. This video presents verification couple stability limits. It can be observed that when controller parameters violate the theoretical passivity limits, interaction in stability is observed. This plot summarizes the results of the couple stability experiments. In the figures, the magenta line represents the necessary and sufficient conditions. And the experimental results verify the validity of the passivity limits. To conclude, we have proposed model reference force control for Seri Serastic Actuation. Provided sufficient conditions for passivity of model reference force control. And validated our theoretical results through numerical and physical experiments. Thank you for your listening.