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This paper proposes an integrated control method including learning with an ellipsoid function and impedance controller for rehabilitation using power-assisted robotic devices. The proposed controller consists of two parts of a primary algorithm, which are ellipsoid regression method for re-designing trajectory and impedance controller with pseudo mass/inertia. The ellipsoid regression method generates...
As more sophisticated robots are being developed, robots are increasingly expected to execute many types of task sets sequentially or simultaneously. When these multiple task sets are executed, the controllers of the robots should be able to deal dynamically with task changes. Especially during the task transitions, there will be discontinuous behaviors of robots in the absence of careful consideration...
As the capability of robots is getting improved, more various tasks are expected to be performed by the robots. Complex operation of the robots can be composed of many different tasks. These tasks are executed sequentially, simultaneously, or in a combined way of both. This paper discusses the transition issue among multiple tasks on how the transition can be effectively and smoothly achieved. The...
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