Variable Impedance Control and Learning—A Review [PDF]
Frontiers in Robotics and AI, 2020 Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approach in
Fares J. Abu-Dakka, Matteo Saveriano
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Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation [PDF]
Frontiers in Neurorobotics, 2021 The coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation ...
Quan Liu +6 more
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Sensorless Impedance Control of Micro Finger Using Coprime Factorization [PDF]
MicromachinesSoft robots are attracting attention as next-generation robots because they enable flexible movement. The micro finger is a soft robot that can bend and is small and can grasp objects of various shapes, so it is expected to be applied to surgical robots.
Yuuki Morohoshi, Mingcong Deng
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A learning based impedance control strategy implemented on a soft prosthetic wrist in joint-space [PDF]
Frontiers in Robotics and AIThe development of advanced control strategies for prosthetic hands is essential for improving performance and user experience. Soft prosthetic wrists pose substantial control challenges due to their compliant structures and nonlinear dynamics. This work
Shifa Sulaiman +3 more
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Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves [PDF]
SensorsIn robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise leg ...
Gabriel Duarte Gonçalves Pedro +8 more
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Variable-Parameter Impedance Control of Manipulator Based on RBFNN and Gradient Descent [PDF]
SensorsDuring the interaction process of a manipulator executing a grasping task, to ensure no damage to the object, accurate force and position control of the manipulator’s end-effector must be concurrently implemented. To address the computationally intensive
Linshen Li +3 more
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Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach [PDF]
Frontiers in Neurorobotics, 2017 The human-robot interaction has played an important role in rehabilitation robotics and impedance control has been used in the regulation of interaction forces between the robot actuator and human limbs.
Andres L. Jutinico +6 more
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Discrete-Time Impedance Control for Dynamic Response Regulation of Parallel Soft Robots [PDF]
BiomimeticsAccurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments.
Ameer Hamza Khan, Shuai Li
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Neural Control of Stopping and Stabilizing the Arm
Frontiers in Integrative Neuroscience, 2022 Stopping is a crucial yet under-studied action for planning and producing meaningful and efficient movements. In this review, we discuss classical human psychophysics studies as well as those using engineered systems that aim to develop models of motor ...
Shanie A. L. Jayasinghe +4 more
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Adaptive grinding method and experimental verification of worm gear tooth surface knife marks
Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2023 Aiming at the problem that the basic impedance control has great impact force and is difficult to cope with environmental changes when it contacts with the tooth surface of worm gear, an adaptive impedance control method based on genetic algorithm was ...
Jie YANG +4 more
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