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Force‐based disturbance observer for dynamic force control and a position/force hybrid controller
IEEJ Transactions on Electrical and Electronic Engineering, 2013AbstractIn this paper, a force‐based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position ...
Sho Sakaino, Tomoya Sato, Kouhei Ohnishi
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Sensorless force control with force error observer
IEEE International Conference on Industrial Technology, 2003, 2004In this paper, novel force control method without force sensor is proposed. In general force control, force sensor such as strain gauge is used. But they have some drawbacks as represented by limited detectable point or narrow bandwidth. Using the proposed force error observer, sensorless force control and estimation of environmental force are realized.
W. Iida, K. Ohnishi
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The Force/Force-Variability Relationship Under Controlled Temporal Conditions
Journal of Motor Behavior, 1988Previously, an inverted U relationship between force and force variability was demonstrated in both static and dynamic responses. Recent research suggests that the inverted U function may be due to a lack of control of the temporal aspects of the response.
D E, Sherwood, R A, Schmidt, C B, Walter
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Development of isometric force and force control in children
Cognitive Brain Research, 2003Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that optimal performance (in terms of force variability ...
Smits-Engelsman, B.C.M. +2 more
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Contact force control and vibration suppression in robotic polishing with a smart end effector
Robotics and Computer-Integrated Manufacturing, 2019Fan Chen +5 more
semanticscholar +1 more source
High-Precision Robust Force Control of a Series Elastic Actuator
IEEE/ASME transactions on mechatronics, 2017Sehoon Oh, Kyoungchul Kong
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Cervical cancer prevention and control in women living with human immunodeficiency virus
Ca-A Cancer Journal for Clinicians, 2021Philip E Castle, Vikrant V Sahasrabuddhe
exaly