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Variable Stiffness and Damping Impedance Control with Disturbance Observer
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA), 2019This paper proposes a variable stiffness and damping impedance controller with a new closed-loop impedance architecture containing the negative power type stiffness and damping parameters. The sliding mode control technique is employed to construct an asymptotically stable reduced order system using PID sliding surface. The external disturbance is well
Zhiqiang Ma, Gangqi Dong
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On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance
Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013Artificial Muscles based on Dielectric Elastomers (DE) can potentially enable the realization of bio-inspired actuation systems whose intrinsic compliance and damping can be varied according to the task requirements. Nonetheless, the control of DE-based Variable Impedance Actuators (VIA) is not trivial owing to the non-linear viscoelastic response ...
PALLI, GIANLUCA, BERSELLI, GIOVANNI
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The effect of variable mechanical impedance on the control of antagonistic muscles
Biological Cybernetics, 1991Most models of muscle have assumed that the series elastic element has a constant stiffness, although experimentally this is not true, either at the level of individual cross-bridges or that of the whole muscle. In this paper elastic and viscous elements are introduced whose properties vary systematically with activity levels as has been found ...
M. Namik Oguztöreli, Richard B. Stein
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Feedforward impedance control efficiently reduce motor variability
Neuroscience Research, 2009Despite the existence of neural noise, which leads variability in motor commands, the central nervous system can effectively reduce movement variance at the end effector to meet task requirements. Although online correction based on feedback information is essential for reducing error, feedforward impedance control is another way to regulate motor ...
Rieko, Osu +3 more
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Variable Impedance Control for Safety and Usability in Telemanipulation
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022Stephan Andreas Schwarz, Ulrike Thomas
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Human-like variable-impedance control for life-cycle testing
2011 RO-MAN, 2011The paper presents robotic approach to life-cycle testing based on advanced compliance control algorithms. This strategy has been demonstrated as meaningful testing approach considering repeatability and reproducibility. Moreover, developed testing procedures mimic human motion and ensure human-like testing conditions.
Dragoljub Surdilovic +2 more
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An Optimal Variable Impedance Control With Consideration of the Stability
IEEE Robotics and Automation Letters, 2022Zhehao Jin +3 more
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Variable scaling bilateral control based on environmental impedance estimation
2016 IEEE International Conference on Industrial Technology (ICIT), 2016Micro-manipulation is quite required because this makes it easier to do delicate work. This technique can be applied in various departments. However, it is difficult for operator to manipulate by their hands because objects are too small and fragile. Moreover, operators can obtain only visual information at present, and cannot recognize how much force ...
Daisuke Tomizuka +3 more
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Fuzzy Variable Impedance Control for Upper-Limb Rehabilitation Robot
2008 Fifth International Conference on Fuzzy Systems and Knowledge Discovery, 2008Robot-assisted rehabilitation therapy has been paid a lot of attention by robot researchers and therapists for its potential ability of rehabilitation training and assess. The purpose of our study is to develop a fuzzy adaptive control strategy based on traditional impedance control for providing optimal force to stroke patients.
Guozheng Xu, Aiguo Song
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UDE-Based Variable Impedance Control of Uncertain Robot Systems
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019A fundamental requirement in robot control is the capability to improve the robot–environment interaction performance. Motivated by the fact that humans are able to adapt limb impedance to stably interact with various environments with skillful dexterity, this paper investigates the variable impedance control for robots, subject to uncertainties from ...
Yiting Dong, Beibei Ren
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