In this paper, we propose a simplified variable admittance controller applied to robot joint control. It is based on a virtual agonist-antagonist mechanism (VAAM) consisting of contractile and parallel elements (CEs and PEs). ”Virtual” here means that every joint physically actuated by a standard servo motor can produce variably compliant motions as if it were driven by a pair of agonist and an...

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipu...

The purpose of this paper is to demonstrate the simulation of the haptic interface device utilizing the admittance control method for the applications of human/virtual environment interaction. . The dynamics of the haptic interface is derived, and then it is integrated with the admittance interaction loop. In doing so, firstly, the haptic device is simulated and the design of it is done through...

This paper presents a current controller that shapes, in the frequency domain, the input admittance of VSC converters connected to the grid. The controller is obtained by means of a H∞ synthesis procedure, which minimizes the difference between the application closed-loop input admittance and a modelreference defined by the designer. This formulation achieves good accuracy in both modulus and p...

We present a methodology for digital modeling ofD-dimensional driving-point bridge admittances from vibration measurements on instruments of the violin family. Our study, centered around the two-dimensional case for violin, viola, and cello, is based on using the modal framework to construct an admittance formulation providing physically meaningful and effective control over model parameters. I...

In this paper the problem of variable admittance control in human-robot cooperation tasks is investigated, considering rotational motion of the robot’s end-effector. A Fuzzy Model Reference Learning algorithm is used to determine online the appropriate virtual damping of the admittance controller with partial state representation of the system. The learning algorithm is trained according to the...

OBJECTIVES To determine the long-term change in static admittance values of subjects with a positive or negative history of otitis media (OM) and ventilation tube (VT) insertion; and to investigate the association between static admittance values and tympanic membrane abnormalities. DESIGN Prospective follow-up study. SUBJECTS A total of 358 subjects with or without a history of OM (OM+ or ...

In this paper, we propose an analytical approach for the small-signal response of nanometric InGaAs diode which is extracted to the transistor model in ref [1] when the gate is taking away. The exploitation of the small-signal equivalent circuit elements such as the admittance parameters can give significant information about the noise level of the devices by using the Nyquist relation. The ana...