Design and Test of Admittance Control with Inner Adaptive Robust Position Control for a Lower Limb Rehabilitation Robot
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-018-0477-z
Abstract: Although admittance control has been used in rehabilitation robots in many studies as it can realize compliant human-robot interaction, the inner proportional-integral-derivative (PID) controller of conventional admittance schemes is simple and not robust enough. This… read more here.
Keywords: control; robot; rehabilitation; controller ... See more keywords
Teleoperation in robot-assisted MIS with adaptive RCM via admittance control
Sign Up to like & getrecommendations! Published in 2024 at "International Journal of Intelligent Robotics and Applications"
DOI: 10.1007/s41315-024-00389-0
Abstract: This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of a previously developed adaptive remote center of motion (RCM) using admittance… read more here.
Keywords: admittance control; framework; robot assisted; rcm ... See more keywords
A variable stochastic admittance control framework with energy tank
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.2716
Abstract: Abstract In this paper we address the problem of implementing a stochastic variable admittance control. Both the variable part of the admittance control and the noise affecting the system may concur to the instability of… read more here.
Keywords: system; admittance control; admittance; energy tank ... See more keywords
Stability enhancement of admittance control with acceleration feedback and friction compensation
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DOI: 10.1016/j.mechatronics.2017.06.011
Abstract: Abstract This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and… read more here.
Keywords: admittance control; control; acceleration; friction compensation ... See more keywords
Adaptive Variable Admittance Control of Manipulator for Detumbling a Space Instable Satellite
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DOI: 10.1109/access.2024.3492154
Abstract: It is a challenge for manipulator to quickly achieve detumbling of a space instable satellite (SIS) with low joint torque. In this paper, an adaptive variable admittance control method is proposed to address the above… read more here.
Keywords: admittance control; control; variable admittance; manipulator ... See more keywords
RRT* and Goal-Driven Variable Admittance Control for Obstacle Avoidance in Manual Guidance Applications
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142887
Abstract: In manual guidance robotic applications, like the handling of large and heavy objects in a cluttered environment, it is important to guarantee that the operator accurately reaches the goal position without collisions with working isles… read more here.
Keywords: manual guidance; environment; admittance control; variable admittance ... See more keywords
Towards High-Payload Admittance Control for Manual Guidance With Environmental Contact
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3150051
Abstract: Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and collision response can achieve free-space stability and… read more here.
Keywords: contact; high payload; payload; admittance control ... See more keywords
Variable Admittance Control Using Velocity-Curvature Patterns to Enhance Physical Human-Robot Interaction
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3387110
Abstract: This letter introduces a variable admittance control approach aimed at enhancing intuitive human-robot interaction by considering both direct and indirect human intentions. The magnitude of force serves as a representation of direct intentions, delineating preferences… read more here.
Keywords: human robot; admittance control; control; variable admittance ... See more keywords
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3406055
Abstract: Applications involving serial manipulators, in both co-manipulation with humans and autonomous operation tasks, require the robot to render high admittance so as to minimize contact forces and maintain stable contacts with high-stiffness surfaces. This can… read more here.
Keywords: admittance control; framework; control; high stiffness ... See more keywords
Asymmetric Admittance Control for Compliance to Time-Varying Interaction Force in Dual-Manipulator Rehabilitation System
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3600137
Abstract: For passive lower limb rehabilitation using dual-manipulator device in the supine position, accurate trajectory tracking requires high stiffness along the direction of gravity-induced interaction forces. Conversely, a compliant pathway with low stiffness is essential for… read more here.
Keywords: dual manipulator; system; admittance control; rehabilitation ... See more keywords
Neural Networks Enhanced Adaptive Admittance Control of Optimized Robot–Environment Interaction
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Cybernetics"
DOI: 10.1109/tcyb.2018.2828654
Abstract: In this paper, an admittance adaptation method has been developed for robots to interact with unknown environments. The environment to be interacted with is modeled as a linear system. In the presence of the unknown… read more here.
Keywords: neural networks; interaction; admittance control; environment ... See more keywords