The applications of robotics to the rehabilitation training of neuromuscular impairments have
received increasing attention due to their promising prospects. The effectiveness of robot …

This paper introduces a two-layer linear control approach to control highly nonlinear robots
for high speed and adaptive tracking. The design of the control approach was based on the …

A nonlinear Time Delay Estimation (TDE) based model reference adaptive impedance
controller was developed for Tarbiat Modares University Upper Limbs Rehabilitation Robot …

This paper presents an improved wave-based bilateral teleoperation scheme for
rehabilitation therapies assisted by robot manipulators. The main feature of this bilateral …

The main impedance control schemes in the task space require accurate knowledge of the
kinematics and dynamics of the robotic system to be controlled. In order to eliminate this …

Human–robot interaction tasks have seen an increased interest in recent years, leading to
the need for new proposals both for the design of new robotic systems and for their control …

A saturating stiffness control scheme for robot manipulators with bounded torque inputs is
proposed. The control law is assumed to be a PD-type controller, and the corresponding …

This paper deals with the global position control problem of robot manipulators in joint
space, a new family of control schemes consisting of a suitable combination of hyperbolic …

This paper investigates the fixed-time trajectory tracking control problem for a nonholonomic
mobile robot. Firstly, the tracking error system is derived for the mobile robot by the aid of a …

In this paper, the tuning procedure of an adaptive impedance control approach, for upper
limb rehabilitation therapies assisted by robots, is presented. The main feature of the …