This paper simplifies and extends previous results associated with the synthesis of controller-observers for set-point regulation of flexible-joint robots. The underlying model accounts for the effects of Coriolis and centripetal forces on both the links and the motors. According to the present approach, the lower bounds on the feedback gains and joint stiffness coefficients that ensure global asymptotical stability can be reduced in comparison with previous studies. The proof of the main result in the present case necessitates an additional insight into the physical character and natural structure of the system’s model.