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This paper proposes a novel technique for the real-time estimation of the joint torques variations in humans while performing heavy manipulation tasks. To achieve this, the method is based on the deviations of the Centre of Pressure (CoP) and Ground Reaction Force (GRF) in the presence of interaction forces. The CoP and GRF variations are calculated from the difference between the estimated values...
Enhancing safety during interaction with environment and improved force control has led to design of highly compliant robotic arms. However, due to introduction of passive compliance in series with actuators the links' interactions and coupling effects become much more important. In this paper a direct decentralized approach for designing PD-PID gains, given the dynamic multivariable model of the...
This paper proposes a teleimpedance controller with tactile feedback for more intuitive control of the Pisa/IIT SoftHand. With the aim to realize a robust, efficient and low-cost hand prosthesis design, the SoftHand is developed based on the motor control principle of synergies, through which the immense complexity of the hand is simplified into distinct motor patterns. Due to the built-in flexibility...
As the impedance profiles of the human joints vary substantially during motion, the employment of variable impedance systems into exoskeletons, orthoses and prostheses that will be able to produce human-like mechanics could have significant benefits. In this direction, this manuscript presents a generic technique to estimate active joint stiffness based on an EMG-driven musculoskeletal model whose...
In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from these tasks are used in sizing the motor and...
In this paper, a knee exoskeleton device and its Tele-Impedance based assistive control scheme is presented. The exoskeleton device is an inherently compliant actuated system that was implemented based on the series elastic actuation (SEA) to provide improved and intrinsically soft interaction behaviour. Details of the exoskeleton design are presented. A detailed musculoskeletal model was developed...
The new areas of technical exploitation of robotics systems has recently set new trends for the robotic actuation by demanding more versatile systems which can cope with unpredictable interactions within not well defined environments and work in close vicinity with the human. Following these trends, this work presents the development of a new actuation system with embodied characteristics such as...
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