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Impedance control based on robust force control can improves rehabilitation therapies. In this paper, we formulate and validate a model of a series-elastic-actuator-based ankle rehabilitation device that includes a second-order description of the human joint dynamics. In order to control the output impedance of the platform we used a cascade configuration with a PD position controller as outer loop...
This paper presents a novel variable impedance compact compliant series elastic actuator (SEA) design for human-friendly robotics applications. The actuator design consists of a servomotor, a ball screw, a torsional spring connecting the motor and the ball screw via a pair of spur gear, and a set of translational springs connecting the ball screw nut to the output link. The translational springs with...
This paper describes the development of an explicit force control system for exerting a suitable force on the zebrafish chorion while simultaneously measuring its impedance, and presents results demonstrating that the application of an external force leads to significant change in the impedance of a zebrafish embryo. These results offer support for a plausible explanation that activities of pore canals...
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