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The paper describes impedance control techniques for human-robot comanipulation. Active impedance is introduced emerged from classical impedance control. Computed torque methods in the task space powered by multiple-output active observers (AOBs) are addressed for active impedance control, taking into account dynamic and kinematic parameters, as well as stochastic design. The design of constraint...
The collaboration between a human operator and a robotic manipulator for performing a joint task is the main topic of this article. One of the most common tasks involves transporting and positioning a load. The proposed control strategy allows the co-manipulation of loads with unknown, time-varying mass. The control algorithm is of a cyclic nature, where each cycle is subdivided into two stages. The...
This work proposes a mechatronic solution to increase the backdrivability of a rehabilitation robot in order to cope with intrinsic kinematic constraints which are adopted by the human brain to solve redundancy in motor tasks. In order to reduce the interaction force between the user and the robot and ensure the robot to follow subjects movements a pure force control algorithm has been adopted. The...
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