The importance of force sensitivity in robots that interact with unknown disturbance is acknowledged. For the manipulators, impedance controlled robots realized safe and robust object manipulation. For the legged mechanism, it is expected to enhance locomotion stability, since locomotion fundamentally is a manipulation of the center of mass. In order to maximize force sensitivity, both the forc...

One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...

Wearable robots that assist human mobility are actuated according to human intention. The estimation of the intention is difficult that the direct measurement is not possible. Especially the force control of the robot require quick response and highly non-repeatable. Biological signals such as electromyography are often used but they lack stability. Sensitivity function gain maximization is yet...

Commercially available prosthetic elbows have stiff actuators (motors) that are only capable of motion (position or velocity) control. In an attempt to mimic human physiology while accommodating prosthetic demands, a non-backdrivable motor has been created that is less stiff and capable of impedance control. Impedance control responds well to different environments and the presence of perturbat...

This paper addresses the problem of accuracy and coupled stability of stiffnesscontrolled series elastic actuators, where the motor is modeled as a non-backdrivable velocity source, and the desired value of virtual stiffness is above the physical stiffness of the compliant element. We first demonstrate that, within the mentioned conditions, no linear outer-loop force control action can be appli...

Industrial robots are most often position controlled and insensitive to external forces. In many robotic applications, however, such as teleoperation, haptics for virtual reality, and collaborative robotics, a close cooperation between humans and robots is required. For such applications, force sensing and control capabilities are required for stable interactions with the operator and environme...

Sufficient grip force and appropriate grasp speed provided by a prosthetic hand are essential for daily use. However, due to limitations in size weight, it is very challenging select motors that can generate enough power provide sufficient high speed. Accordingly, this research proposes new design using dual-motor actuator as an actuation strategy, which consists of two separated differential m...

This work presents a new approach of haptic human-robot interaction for joint manipulation of large objects. As a shared manipulation strategy, we propose to decompose any task in different non-honolomic motions (rotations and translations). The intention of the next non-honolomic motion is detected by analysing haptic cues. An experiment with ten subjects is realised to compare this proposed a...