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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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Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking. [PDF]
IEEE Trans Robot, 2023 Most impedance-based walking controllers for powered knee–ankle prostheses use a finite state machine with dozens of user-specific parameters that require manual tuning by technical experts.
Best TK, Welker CG, Rouse EJ, Gregg RD.
europepmc +2 more sources
Fractional Order Impedance Control [PDF]
IEEE Access, 2020 This paper proposes a novel fractional order impedance control. In traditional impedance control model, the orders of inertia, damping, and stiffness are integers and the contact force can be reduced effectively to some extent in robots and manipulators.
Guangrong Chen +3 more
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Unified force-impedance control
The International Journal of Robotics ResearchUnified force-impedance control (UFIC) aims at integrating the advantages of impedance control and force control. Compliance and exact force regulation are equally important abilities in modern robot manipulation. The developed passivity-based framework builds on the energy tank concept and is suitable for serial rigid and flexible-joint robots ...
Sami Haddadin, Erfan Shahriari
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Model Predictive Impedance Control [PDF]
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 Robots are more and more often designed in order to perform tasks in synergy with human operators. In this context, a current research focus for collaborative robotics lies in the design of high-performance control solutions, which ensure security in spite of unmodeled external forces.
Maciej Bednarczyk +2 more
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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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An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control. [PDF]
Front Robot AI, 2020 Quadruped robots require compliance to handle unexpected external forces, such as impulsive contact forces from rough terrain, or from physical human-robot interaction.
Xin G +4 more
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Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control
IEEE Access, 2020 Legged robots have extremely strong adaptability in different terrain environment and their stable walking in the wild is still a current research hotspot.
Zhang Cong +5 more
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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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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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