As a simple and effective force tracking control method, impedance is widely used in robot contact operations. The internal parameters of traditional are constant cannot be corrected real time, which will lead to instability system or large error. Therefore, it difficult applied the occasions requiring higher accuracy, such as robotic medical surgery, space operation so on. To solve this proble...

Euler parameters constitute a well-known nonminimal singularity-free representation of rigid body orientation. This paper is aimed at illustrating the role of Euler parameters in robot control; namely, the kinematic control, dynamic control and impedance control problems are surveyed in a unifying perspective, where robot’s end-effector orientation displacements are described in terms of Euler ...

Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adaptation and compliance. Pneumatic artificial muscles (PAM) are soft actuators that have built-in compliance making them usable for rehabilitation robots. Conversely, arises from nonlinear characteristics generates obstructions modeling controlling actions. It a critical issue limiting the use PAM. In t...

Based on the features of two-robot coordination control system, a coordination system in layered modularization was set up from the human motor control system. A module of object hybrid impedance controller (HIC) was designed, so it can compensate the whole dynamics and its stability was analyzed. After make the inner force controller combine reasonably with the motor controller, the integrated...

Problem statement: The assistance of person with limited ability of arm movement is necessary for rehabilitation reasons. This aid is required not only to cover the human performances of the arm in motion and force but also to have a strictly stable dynamics. In this study, we proposed a cooperative system between a disabled arm and a robotic manipulator to reach such objectives. Desired positi...

Numerous robots have been widely used to deliver rehabilitative training for hemiplegic patients to improve their functional ability. Because of the complexity and diversity of upper limb motion, customization of training patterns is one key factor during upper limb rehabilitation training. Most of the current rehabilitation robots cannot intelligently provide adaptive training parameters, and ...

Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help in situations where higher forces need to be applied. This paper describes a theoretical framework for learning the desired stiffness characte...

This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dyna...