Conduction in inward rectifier, K+-channels in Aplysia neuron and Ba++ blockade of these channels were studied by rapid measurement of the membrane complex admittance in the frequency range 0.05 to 200 Hz during voltage clamps to membrane potentials in the range -90 to -40 mV. Complex ionic conductances of K+ and Cl- rectifiers were extracted from complex admittances of other membrane conductio...

Abstract This paper focuses on the optimal tracking control problem for robot systems with environment interaction and actuator saturation. A scheme combined admittance adaptation adaptive dynamic programming (ADP) is developed. The unknown modelled as a linear system controller derived to achieve compliant behaviour of robot. In ADP framework, cost function defined non-quadratic form critic ne...

The conductance catheter technique could be improved by determining instantaneous parallel conductance (G(P)), which is known to be time varying, and by including a time-varying calibration factor in Baan's equation [alpha(t)]. We have recently proposed solutions to the problems of both time-varying G(P) and time-varying alpha, which we term "admittance" and "Wei's equation," respectively. We v...

The paper concentrates on the development and control of the humanoid robot arm iSoRA, intended for operation in a dynamic unstructured environment. Optical torque sensors integrated into each joint enable measurement of contacting forces along the entire manipulator surface. A variable admittance control strategy was elaborated to increase the robot functionality and to achieve the human-like ...

The conductance catheter technique could be improved by determining instantaneous parallel 40 conductance (GP) which is known to be time-varying, and by including a time-varying calibration factor in 41 Baan’s equation (α(t)). We have recently proposed solutions to the problems of both time-varying GP and time42 varying α, which we term “admittance” and “Wei’s equation”, respectively. We valida...

In grid-connected inverters (GCIs), the phase-locked loop (PLL) behaves as a negative admittance at point of common coupling (PCC), composed both PLL controller and current terms. Therefore, not only dynamics, but also dynamical interactions between might trigger instabilities in weak grids, which complicates parameters regulation. The smaller bandwidth could help to mitigate instabilities, exp...

Control system designers nowadays have a wide selection of teleoperation architectures to configure their systems. Regardless of the architecture, if the process requires application of forces to the outer media, monitoring these forces are necessary as well as the motion of the manipulator. Most of the time, customary control strategies fail when both the position and the force trajectories ar...

A simple algorithm is presented for evaluating scattering parameters of a two-port network. This technique uses the indefinite admittance matrix to calculate scattering or any other desired set of two-port parameters.

* Address all correspondence to this author. ABSTRACT This paper presents a bidirectional teleoperation admittance haptic glove (RML glove) which can be used to control mobile robots. The glove receives information from the environment and the internal status of the mobile robot, and generates a force feedback to the operator through the wireless module which in return communicates command sign...