In this work, redundancy resolution and impedance modulation strategies have been employed to enhance intuitiveness and stability in physical human-robot interaction during co-manipulation tasks. An impedance strategy to control a redundant manipulator is defined in the Cartesian space. Different modulation laws for the impedance parameters are tested in combination with different strategies to...

Abstract This paper proposed the microcontroller based vector impedance meter, which can be used to measure unidentified impedance of the system. The microcontroller read only four samples from two voltage signals, the first voltage is proportional to the voltage across the impedance while the second voltage is proportional to the current passing through it. A novel algorithm is then used to ge...

A number of techniques can be used to eliminate reflections when the characteristic impedance of the line and the load impedance are mismatched. Impedance matching techniques can be designed to be effective for a specific frequency of operation (narrow band techniques) or for a given frequency spectrum (broadband techniques). The purpose of this paper is to make a comparative study on bandwidth...

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

Intraluminal impedance, a nonradiological method for assessing bolus flow within the gut, may be suitable for investigating pharyngeal disorders. This study evaluated an impedance technique for the detection of pharyngeal bolus flow during swallowing. Patterns of pharyngoesophageal pressure and impedance were simultaneously recorded with videofluoroscopy in 10 healthy volunteers during swallowi...

This article presents the results of two in-vivo studies providing measurements of human static ankle mechanical impedance. Accurate measurements of ankle impedance when muscles were voluntarily activated were obtained using a therapeutic robot, Anklebot, and an electromyographic recording system. Important features of ankle impedance, and their variation with muscle activity, are discussed, in...