Variable stiffness and variable damping can play an important role in robot movement, particularly for legged robots such as bipedal walkers. Variable impedance also introduces new control problems, since there are more degrees of freedom to control, and the resulting robot has more complex dynamics. In this paper, we introduce novel design and fabrication methodologies that are capable of prod...

In the last decades more robotic manipulanda have been employed to investigate the effect of haptic environments on motor learning and rehabilitation. However, implementing complex haptic renderings can be challenging from technological and control perspectives. We propose a novel robot (H-Man) characterized by a mechanical design based on cabled differential transmission providing advantages o...

This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired tra...

In the last paper, we proposed a winding and reaching control technique using a physical index of horizontal constraint force for a 3D snake-like robot. Using a snake like robot called SMA, the validity of the methods was shown experimentally. In this paper control methods in the last paper are summarized and a control method of an active impedance control of vertical joints is proposed for win...

For complex robotic tasks (manipulation, locomotion, haptics, ...), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (force, speed, ...) in real time and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controller...

This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based on a controller developed previously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to environmental forces with a fully programmable ...

With the development of robotics, it will be possible for fracture reduction robots to replace doctors in performing surgery operations. The accuracy and safety by robot is important. In order compensate various uncertainties nonlinear problems impedance control system, this paper proposes a fuzzy adaptive sliding mode robot, which includes force residual observer (FRO) controller (FASMC). FRO ...

Impedance control is widely applied in contact force for robot manipulators. The traditional impedance model linear, and has limitations describing the actual force. In addition, time-varying dynamic coupling characteristics pose critical challenges to high-speed high-precision control. this paper, a fractional order controller (FOIC) proposed industrial manipulator systematic FOIC parameters t...

A set of impedance controllers is used for both state estimation and tracking control on a mobile robot. State estimation is based on the states of a family of impedance controllers and tracking is implemented through a single controller from this set. Reinforcement learning techniques are used to create switching policies that optimize time or energy in a path tracking task.