Thomas M. Stepien

Papers

Total Citations

105

H-Index

About

Thomas M. Stepien is a pioneer in the field of robotic force control, with his seminal 1987 paper on controlling tool/workpiece contact forces for robotic deburring earning over 105 citations. His key research areas include robotic manipulation, automated manufacturing, and precision force regulation. Stepien’s major contribution lies in designing and implementing a microprocessor-based system that operates in parallel with a robot controller, calculating real-time position corrections to manage interaction forces between a five-axis articulated robot and a workpiece. This work laid the groundwork for adaptive force control in industrial robotics, enabling safer and more precise automated deburring, grinding, and assembly tasks. By demonstrating how to decouple force control from a robot’s native position controller, Stepien provided a practical framework that influenced subsequent research in compliant motion and human-robot interaction. His achievements highlight the critical intersection of control theory and mechanical design, making his research essential reading for students and engineers interested in robotic manufacturing, force-sensitive automation, and intelligent machining systems.