A review of algorithms for compliant control of stiff and fixed-compliance robots
This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …
view of past and present literature. Compliant control is fundamental when dealing with …
High-precision robust force control of a series elastic actuator
A series elastic actuator (SEA) is a promising actuation method in force control applications
that intelligently interacts with environments. The SEA is characterized by a spring placed …
that intelligently interacts with environments. The SEA is characterized by a spring placed …
Experimental comparison of torque control methods on an ankle exoskeleton during human walking
Few comparisons have been performed across torque controllers for exoskeletons, and
differences among devices have made interpretation difficult. In this study, we designed …
differences among devices have made interpretation difficult. In this study, we designed …
Quasi-distributed torque and displacement sensing on a series elastic actuator's spring using FBG arrays inscribed in CYTOP fibers
We report the application of fiber Bragg grating (FBG) arrays in polymer optical fibers for the
quasi-distributed displacement and torque sensing in a series elastic actuator's spring. The …
quasi-distributed displacement and torque sensing in a series elastic actuator's spring. The …
A sensorless hand guiding scheme based on model identification and control for industrial robot
S Zhang, S Wang, F Jing, M Tan - IEEE Transactions on …, 2019 - ieeexplore.ieee.org
Most industrial robots are not capable of teaching by hand and require path points to be
specified by teaching pendants. To enable the teaching of industrial robots by hand without …
specified by teaching pendants. To enable the teaching of industrial robots by hand without …
Impedance control of series elastic actuators: Passivity and acceleration-based control
Abstract Series elastic joints allow force and impedance controllers to be implemented on
high torque and high power density motors. Several impedance controllers have been …
high torque and high power density motors. Several impedance controllers have been …
Neuromuscular controller embedded in a powered ankle exoskeleton: Effects on gait, clinical features and subjective perspective of incomplete spinal cord injured …
F Tamburella, NL Tagliamonte, I Pisotta… - IEEE transactions on …, 2020 - ieeexplore.ieee.org
Powered exoskeletons are among the emerging technologies claiming to assist functional
ambulation. The potential to adapt robotic assistance based on specific motor abilities of …
ambulation. The potential to adapt robotic assistance based on specific motor abilities of …
Benchmarking torque control strategies for a torsion-based series elastic actuator
B Ugurlu, E Sariyildiz, AT Kansizoglu… - IEEE Robotics & …, 2021 - ieeexplore.ieee.org
The diversity in torque-controlled actuators has enabled researchers to address numerous
physical human–robot interaction applications with enhanced safety, dependability, and …
physical human–robot interaction applications with enhanced safety, dependability, and …
A rationale for acceleration feedback in force control of series elastic actuators
Series elastic actuators (SEAs) have become fundamental components in robots that
physically interact with unstructured environments and humans. Force control of SEAs is …
physically interact with unstructured environments and humans. Force control of SEAs is …
Necessary and sufficient conditions for the passivity of impedance rendering with velocity-sourced series elastic actuation
FE Tosun, V Patoglu - IEEE Transactions on Robotics, 2020 - ieeexplore.ieee.org
Series elastic actuation (SEA) has become prevalent in applications involving physical
human-robot interaction, as it provides considerable advantages over traditional stiff …
human-robot interaction, as it provides considerable advantages over traditional stiff …