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Tele-impedance control of a variable stiffness prosthetic hand
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012We propose a variable stiffness prosthetic hand and present its surface electromyography (sEMG) interface for tele-impedance control. Such an interface, together with variable stiffness actuation (VSA), enables the amputee to modulate the impedance of the prosthetic limb to properly match the requirements of the task at hand, while performing ...
Elif Hocaoglu, Volkan Patoglu
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Variable damping impedance control of a bilateral telerobotic system
Proceedings of IEEE International Conference on Robotics and Automation, 2002Stiffness and damping control in a telerobotic system allows the master and slave dynamics to be defined by the user. However, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters. Rather than selecting a compromise value for the damping of the master and slave, it is proposed that these values be ...
Tan Fung Chan +2 more
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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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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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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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Neural approximation-based adaptive variable impedance control of robots
Transactions of the Institute of Measurement and Control, 2020Variable impedance control improves compliance and robustness in robot-environment interaction through variation of the desired stiffness and the desired damping. This paper proposes neural approximation-based variable impedance controllers for robots in robot-environment interaction. Constraints on variable impedance parameters are given to ensure the
Xuexin Zhang, Tairen Sun, Dongning Deng
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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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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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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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