A tutorial survey and comparison of impedance control on robotic manipulation
There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
Adaptive CPG-based gait planning with learning-based torque estimation and control for exoskeletons
In this letter, a new adaptable gait trajectory shaping method is proposed for lower-limb
exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized …
exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized …
Towards automated statistical partial discharge source classification using pattern recognition techniques
H Janani, B Kordi - High Voltage, 2018 - Wiley Online Library
This study presents a comprehensive review of the automated classification in partial
discharge (PD) source identification and probabilistic interpretation of the classification …
discharge (PD) source identification and probabilistic interpretation of the classification …
fNIRS-based Neurorobotic Interface for gait rehabilitation
Background In this paper, a novel functional near-infrared spectroscopy (fNIRS)-based brain-
computer interface (BCI) framework for control of prosthetic legs and rehabilitation of …
computer interface (BCI) framework for control of prosthetic legs and rehabilitation of …
A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot
The design of swing and stance control for path following of a prosthetic leg robot subject to
uncertain dynamics and exterior disturbances is a serious issue, which affects the …
uncertain dynamics and exterior disturbances is a serious issue, which affects the …
Deep reinforcement learning for physics-based musculoskeletal simulations of healthy subjects and transfemoral prostheses' users during normal walking
L De Vree, R Carloni - IEEE Transactions on Neural Systems …, 2021 - ieeexplore.ieee.org
This paper proposes to use deep reinforcement learning for the simulation of physics-based
musculoskeletal models of both healthy subjects and transfemoral prostheses' users during …
musculoskeletal models of both healthy subjects and transfemoral prostheses' users during …
Robust ground reaction force estimation and control of lower-limb prostheses: Theory and simulation
Ground reaction force (GRF) characteristics of amputee walking are important for the
analysis of clinical gait data, and also to update model reference adaptive impedance …
analysis of clinical gait data, and also to update model reference adaptive impedance …
Robust adaptive sliding mode admittance control of exoskeleton rehabilitation robots
A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton
rehabilitation robots. The proposed controller has robustness against uncertainties of …
rehabilitation robots. The proposed controller has robustness against uncertainties of …
Optimal mixed tracking/impedance control with application to transfemoral prostheses with energy regeneration
Objective: We design an optimal passivity-based tracking/impedance control system for a
robotic manipulator with energy regenerative electronics, where the manipulator has both …
robotic manipulator with energy regenerative electronics, where the manipulator has both …
Learning compliant stiffness by impedance control-aware task segmentation and multi-objective bayesian optimization with priors
Rather than traditional position control, impedance control is preferred to ensure the safe
operation of industrial robots programmed from demonstrations. However, variable stiffness …
operation of industrial robots programmed from demonstrations. However, variable stiffness …