Impedance control is a compliance control strategy capable of accommodating both unconstrained and constrained motions. The performance of impedance controllers depends heavily upon environment dynamics and the choice of target impedance. To maintain performance for a wide range of environments, target impedance needs to be adjusted adaptively. In this paper, a geometric view on impedance contr...

This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot‐ environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is de...

This paper presents an experimental study on impedance control in both Cartesian and object level with adaptive friction compensation for dexterous robot hand based on joint torque feedback. To adaptively decrease the effects of high friction caused by complex transmission systems and joint coupling, a friction observer is proposed based on the extended Kalman filter (EKF) in this paper. A Cart...

This paper proposes an impedance control method with impedance modulation strategy for biped robot locomotion. Both the constrained leg and the free leg are controlled by impedance control. The impedance parameters changes depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, the damping coeffici...

Impedance control provides a convenient framework for designing control algorithms for robotic applications that involve interaction with the environment. Passive impedance control was utilized in the early days of robotic applications, when the peg-in-hole type of tasks were performed using remote center compliance. Active impedance control using digital measurements of contact forces for debu...

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibil...

This paper discusses the problem of squatting training of stroke patients. The main idea is to correct the patient's training trajectory through an iterative learning control (ILC) method. To obtain better rehabilitation effect, a patient will typically be required to practice a reference posture for many times, while most of active training methods can hardly keep the patients training with co...

This paper presents an impedance controller for five-finger dexterous robot hand DLR-HIT II, which is derived in Cartesian space. By considering flexibility in finger joints and strong mechanical couplings in differential gear-box, modeling and control of the robot hand are described in this paper. The model-based friction estimation and velocity observer are carried out with an extended Kalman...

Impedance control facilitates the performance of tasks that involve contact with the environment. Two generic strategies for implementing impedance control have been described in the literature: the dynamic based approach [4] and the position based approach [7]. The second method has been introduced to eliminate the inherent sensitivity of the first method to the accuracy of the dynamic model. ...