Exoskeletons are utilized extensively in robotic rehabilitation and power augmentation purposes. One of the most recognised control algorithms utilized in this field is the impedance controller. Impedance control approach provides the capability of realizing different rehabilitation exercises by tuning the target impedance gains. Trial and error experimental approach is one of the most common m...

The corrosion inhibition effect of N,N′-bis(n-Hydroxybenzaldehyde)-1,3-Propandiimine on mild steel has been investigated in 1 M HCl using electrochemical impedance spectroscopy. A predictive model was presented for Nyquist plots using an artificial neural network. The proposed model predicted the imaginary impedance based on the real part of the impedance as a function of time. The model to...

Abstract Corrosion of steel bars is one cause deterioration in reinforced concrete structures. The state corrosion rebar structures can be measured using the AC impedance method. typical three-electrode method requires electrical continuity between and measurement device, which may inconvenient because structure to partly damaged by processes such as drilling. present study proposes a obtain sa...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and presents supporting experimental results. First, the problem of ...

Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoperators based on H∞ framework. The upper H∞ norm bound of the system including H∞ sub optimal controller is used as the performance index. As a case study, the method is applied to a...