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In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative...
This paper presents a new control system for a lower limb function training device by the internal model control scheme. The proposed control method is able to estimate exercise capacity of patients without additional sensors, e.g. force sensor, pressure sensor, and EMG. The training device provides appropriate power when patients need support of pedaling in rehabilitation. A prototype of the training...
A new controller scheme based on the observer based stabilizing controller with a simplified design is proposed in this paper. The proposed controller scheme has position tracking property and disturbance estimation property. By applying these properties to teleoperation control, a master-slave system without force sensors is obtained. The effectiveness of the controller scheme is verified by experiments.
Control applications to life science are significant for the development interacting with humans. Assistive devices for rehabilitation technology will be used by elderly or disabled people in order to support more life independence. For the interaction with humans, safety and reliability conditions have to be fulfilled, and control design methods for assistive devices have to be robust against parameter...
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