stroke is one of the most common diseases among the elderly with high personal and societal costs. in recent years, robotic rehabilitation for stroke has become an active area of research for assistance, monitoring and qualifying the rehabilitation treatments. the key issue needed for improving rehabilitation system is that patient feedback should be taken into account by the robotic rehabilita...

A fundamental requirement for the success of a manipulation task is the capability to handle the physical contact between a robot and the environment. Pure motion control turns out to be inadequate because the unavoidable modeling errors and uncertainties may cause a rise of the contact force, ultimately leading to an unstable behavior during the interaction, especially in the presence of rigid...

direct yaw moment control systems (dyc) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the control yaw moment (cym). in order to achieve the superior control performance, intelligent usage of lateral forces is also required. the lateral wheel forces have an indirect effect on the cym and based upon their directions,...

this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...