Results 271 to 280 of about 17,953,914 (330)

Tremor suppression through impedance control

IEEE Transactions on Rehabilitation Engineering, 2000
This paper presents a method for designing tremor suppression systems that achieve a specified reduction in pathological tremor power through controlling the impedance of the human-machine interface. Position, rate, and acceleration feedback are examined and two techniques for the selection of feedback coefficients are discussed. Both techniques seek a
S, Pledgie, K E, Barner, S K, Agrawal, T, Rahman   +3 more
openaire   +2 more sources

Force tracking in impedance control

[1993] Proceedings IEEE International Conference on Robotics and Automation, 1997
This article presents two simple on-line schemes for force tracking within the impedance-control framework. The force- tracking capability of impedance control is particularly important for providing robustness in the presence of large uncertainties or variations in environmental parameters.
Homayoun Seraji, Richard Colbaugh
openaire   +1 more source

Passive impedance control with time-varying impedance center

Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694), 2004
Humans can perform skillful tasks adaptively and safely while interacting with uncertain dynamic environment. With respect to the adaptation ability, it was pointed out that impedance control could play a center role in the human motor control mechanism.
Y. Kishi, null Zhi Wei Luo, F. Asano, S. Hosoe   +3 more
openaire   +1 more source

Minimally Model-Based Trajectory Tracking and Variable Impedance Control of Flexible-Joint Robots

IEEE transactions on industrial electronics (1982. Print), 2020
This article presents a novel control scheme that primarily provides a solution to the problem of simultaneously performing stable trajectory tracking and variable impedance control (VIC) of flexible-joint robots.
Emmanouil Spyrakos-Papastavridis, J. Dai
semanticscholar   +1 more source

Learning control for impedance controlled manipulator

[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 2005
The authors propose a model-based learning control method for impedance controlled manipulators interacting with environments to perform accurate tracking of desired force and position trajectories. A Newton-like method is used to obtain the learning control law, which includes tracking errors and estimated parameters of environments such as viscous ...
Y. Maeda, H. Kano
openaire   +1 more source

Adaptive Impedance Control

2010
This chapter is devoted to adaptive impedance matching techniques that have been investigated as a means to improve the link quality of mobile phones under fluctuating operating conditions. Adaptive techniques are attractive because they provide resilience to changes in body-effects and phone form factor.
van Bezooijen, André, Mahmoudi, Reza, van Roermund, Arthur   +2 more
openaire   +2 more sources

Impedance-controlled ultrasound probe

SPIE Proceedings, 2011
An actuated hand-held impedance-controlled ultrasound probe has been developed. The controller maintains a prescribed contact state (force and velocity) between the probe and a patient's body. The device will enhance the diagnostic capability of free-hand elastography and swept-force compound imaging, and also make it easier for a technician to ...
Matthew W. Gilbertson, Brian W. Anthony
openaire   +1 more source

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Robotica (Cambridge. Print), 2019
Summary There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment.
Peng Song, Yueqing Yu, Xuping Zhang
semanticscholar   +1 more source

Casimir based impedance control

2012 IEEE International Conference on Robotics and Automation, 2012
This paper proposes a new impedance control principle for mechanical systems which have driving systems whose control input is not the torque any more. It is shown how to transform such mechanical systems with driving systems into another systems with the desired mechanical impedance.
Sakai, Satoru, Stramigioli, Stefano
openaire   +1 more source

Passivity Preservation for Variable Impedance Control of Compliant Robots

IEEE/ASME transactions on mechatronics, 2020
The notable performance exhibited by impedance controllers during robotic interaction has led to the widespread use of this control methodology. Improved position and interaction control might be attainable through utilisation of variable impedance ...
Emmanouil Spyrakos-Papastavridis, P. Childs, J. Dai   +2 more
semanticscholar   +1 more source