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This paper presents a redundant manipulator with a new application to relaxing human-body muscle fatigue. The environment between human-body and the manipulator end-effector is modeled as a mass-spring-damper system. Then the generalized impedance control method is used to control the manipulator in the task space as well as the null space. To get the optimized solutions, the objective function is...
Interaction control is an important aspect in rehabilitation robots to ensure system safety and allow effective rehabilitation. Due to the significant variability of human limb and joint characteristics, adaptability in the interaction controller is vital for enabling the adjustment of robot behavior to better suit the patient's requirements. A parallel manipulator has been developed for ankle rehabilitation...
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