Impedance control is one of the most effective control methods for interaction between a robotic manipulator and its environment. Robot impedance control regulates the response of the manipulator to contact and virtual impedance control regulates the manipulator’s response before contact. Although these impedance parameters may be regulated using neural networks, conventional methods do not con...

Functional genomic studies and drug candidate testing require tracking of cell activity with high throughput. Electrical impedance measurements on multiple electrodes are highly attractive in this application because of the potential for direct computer control. Impedance measurements over a wide range of frequency were performed on four sensing electrodes to study the mouse fibroblast cell beh...

The Multiple Impedance Control (MIC) is a new algorithm which enforces a designated impedance on both a manipulated object, and all cooperating manipulators. In this paper, the MIC is applied to a space robotic system in which robotic arms, mounted on a free-flyingbase, manipulate an object. The general formulation of the MIC is extended to include the dynamic coupling between the arms and the ...

Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and force control. In this paper a robust impedance control law based on an attractive theory of sliding m...

One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in everyday human environments. It is, however, not t...

A novel on-board solution for a robust, accurate and self-calibrating soil moisture and nutrient sensor with inbuilt wireless transmission and reception capability is presented. The sensor can make real time and accurate measurement of subsurface soil moisture and nutrients and is ideally suited to act as a node in a network spread over a large area. It works on the principle of impedance spect...

Stephen P. Buerger Massachusetts Institute of Technology 19.

This paper proposes an impedance control method for redundant manipulators, which can control not only the endpoint impedance using one of the conventional impedance control methods, but the joint impedance which has no effects on the end-point impedance. First, a sufficient condition for the joint impedance controller is derived. Then, the optimal controller for a given desired joint impedance...

in exploration seismology, estimation of elastic parameters of rocks using seismic amplitudes is considered as inverse problems. nowadays, model-based and more generally optimization-based algorithms are of the most common methods of seismic inversion. these algorithms which are known as deterministic methods, are suffering from two main problems; first, vertical resolution of outputs is very l...