Design of an Elbow Rehabilitation Robot based on Force Measurement and its Force Control

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Fuzzy Logic Based Force and Position Control of an Ankle Rehabilitation Robot

Abstract Medical rehabilitation treatments are carried out to reinstate physical disorders caused from an injury or stroke. Robots can significantly assist the therapist to carry out an effortless and yet controlled rehabilitation program simultaneously on a number of patients to save on time and efforts of both the therapist and the patient. Ankle joint injuries, due to their complexities and ...

On dynamic models of robot force control

Design and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric Effect

In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...