This paper presents a new intelligent method to control rehabilitation robots by mainly considering reactions of patient instead of doing a repetitive preprogrammed movement. It generates a general reference trajectory based on different reactions of patient during therapy. Three main reactions has been identified and included in reference trajectory: small variations, force shocks in a single ...

The design, control and performance of the Cobotic Hand Controller, a novel, six-degree-of-freedom, admittance controlled haptic display is examined. A highly geared admittance architecture is often used to render high impedances with reasonable sized actuators for a haptic display. The Cobotic Hand Controller is an extremely faithful realization of an admittance display, since it is capable of...

In a companion paper (Part I), we investigated stability of induction motor drives, with resonant input filters. By using a linearized feedback model of the drive, it was shown how stability specifications could be transformed into constraints on the input admittance of the voltage source inverter. The stabilization problem then becomes a standard feedback control loop-shaping problem, where th...

In this study, we extended the conventional admittance control and developed a new power augmentation technology that supports the upper extremity movements of humans using only the electromyography (EMG) signals of agonists. First, we selected the EMG signals of two agonists, the biceps brachii and clavicular part of the deltoid, to control the elbow and shoulder joints, respectively. We then ...

Human-robot collaborative systems (HRCS) have the potential to dramatically change many aspects of surgery, manufacturing, hazardous-material handling, and other dextrous tasks. We are particularly interested in precise manipulation tasks, which are typically performed under an admittance-control regime, where the controlled velocity is proportional to the user-applied force. During precise fas...

Previous studies have proposed methods for admittance and impedance control for a finger-arm robot using the manipulability of the finger. Based on the previous theories, the authors have proposed an admittance control for a multifinger arm robot using the manipulability of the fingers in this study. Two 3-DOF fingers are attached to the end-effector of a 6DOF arm to configure a multi-finger ar...

This paper presents a trajectory generator and an active compliance control scheme, unified in a framework to synthesize dynamic, feasible and compliant trot-walking locomotion cycles for a stiff-by-nature hydraulically actuated quadruped robot. At the outset, a CoP-based trajectory generator that is constructed using an analytical solution is implemented to obtain feasible and dynamically bala...