This paper examines human impedance perception ability during manipulation of an impedance-controlled robot, especially as regards perception accuracy and differential limen. In the experiments, a subject is instructed to move the handle of an impedance-controlled robot and to perceive the presented value of the robot impedance. Experimental results show that both motor control ability and soma...

Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force regarded as a linear viscoelastic model, which limits description of dynamic model system to certain extent. For robot manipulator, optimal parameters controller are key improve performance. this paper, described more accurately by fractional calculus than and fractiona...

A mute is a device that is placed in the bell of a brass instrument to alter its sound. However, when a straight mute is used with a brass instrument, the frequencies of its first impedance peaks are slightly modified, and a mistuned, extra impedance peak appears. This peak affects the instrument's playability, making some lower notes difficult or impossible to produce when playing at low dynam...

A human performs a variety of skillful movements by adjusting dynamic characteristics of his or her musculoskeletal system according to a task involved. Such characteristics of human movements can be described by mechanical impedance parameters. If the regulation mechanism of human impedance properties during the task can be clarified and modeled, there is a possibility that human skillful stra...

Reduction in power consumption has become a major criterion of design in modern ICs. One such scheme to reduce power consumption by an IC is the use of multiple power supplies for critical and non-critical paths. To maintain the impedance of a power distribution system below a specified level, multiple decoupling capacitors are placed at different levels of power grid hierarchy. This paper desc...

This paper suggests a new control method to modify the virtual impedance performance in unbalanced conditions. The proposed method compensates the voltage drop that occurred due to the virtual impedance and adjusts the voltage of the point of common coupling at a desirable level. To compensate the voltage drop, the reference voltage in the droop control varies according to the proposed algorith...