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Assisted control seeks to help subjects to perform physical movements of the body, which they cannot do by themselves. Passive rehabilitation therapy is very important and vital after the stroke accident. In this functioning mode, the subject is completely passive during the movement. The robot brings the injured upper arm of the patient to perform repetitive therapeutic exercises. In this case, the...
This paper presents the advantages of a high-stiff motion-reproduction system based on a motion-copying system using acceleration-based bilateral control and analyzes its performance. A motion-copying system has been proposed for saving and reproducing human motions. In previous studies on motion-copying systems, stored motion data could not be reproduced under the condition that a difference existed...
In the robot systems and intelligent machines, the gear-box or mechanisms are connected with the motor to transmit the actuator torque to a distant joint. Generally, its elasticity causes resonance frequency in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control...
This paper presents an approach to the indirect simultaneous positioning task of deformable objects based on robust linear output regulation methods. Indirect control requires maneuvering control points defined on a deformable body to desired locations by manipulating points located elsewhere on the object. The proposed control scheme uses a linearization of the deformable object dynamics into a state-space...
In recent years world aging population is increasing always more and more. Consequently power assist devices such as electro mechanical suits and electric wheelchair are growing in importance. A key aspect in the control of power assist robots is the knowledge of the force that the user applies on the device. Force sensors are often used even though they are generally expensive, heavy, and can measure...
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