Virtually Constrained Admittance Control Using Feedback Linearization for Physical Human-Robot Interaction With Rehabilitation Exoskeletons
Robot-assisted rehabilitation focuses in part on path-based assist-as-needed reaching
rehabilitation, which dynamically adapts the level of robot assistance during physical …
rehabilitation, which dynamically adapts the level of robot assistance during physical …
A Safety-Focused Admittance Control Approach for Physical Human–Robot Interaction With Rigid Multi-Arm Serial Link Exoskeletons
Ensuring safety in physical human–robot interaction is challenging due to hardware and
control architecture differences across robots, and is often implemented as system …
control architecture differences across robots, and is often implemented as system …
Interpolating across the impedance/admittance spectrum with Unified Interaction Control
N Berezny, M Ahmadi - Discover Mechanical Engineering, 2023 - Springer
Abstract Impedance Control (IC) and Admittance control (AC) are two control methods for
robot-environment interaction which have opposing performance and stability …
robot-environment interaction which have opposing performance and stability …