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   Articles with "impedance control" as a keyword



A Three‐Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems

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recommendations! Published in 2025 at "Advanced Science"

DOI: 10.1002/advs.202510291

Abstract: Various studies have explored mechanical impedance control strategies in soft actuators to enhance stability and precision, as the nonlinear characteristics of soft materials frequently lead to unwanted oscillations. Among these approaches, electrostatic (ES) clutches have… read more here.

Keywords: three phase; impedance; clutch; mechanical impedance ... See more keywords

First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach

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recommendations! Published in 2017 at "Autonomous Robots"

DOI: 10.1007/s10514-016-9565-1

Abstract: This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the goal of improving both the tracking performance and… read more here.

Keywords: impedance control; control; optimization based; optimization ... See more keywords

Learning impedance control of robots with enhanced transient and steady-state control performances

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recommendations! Published in 2020 at "Science China Information Sciences"

DOI: 10.1007/s11432-019-2639-6

Abstract: This study proposes a learning impedance controller comprising a proportional feedback control term, a composite-learning-based uncertainty estimation term, and a robot-environment interaction control term. The impedance control problem is converted into a particular reference-trajectory tracking… read more here.

Keywords: impedance control; transient steady; learning impedance; control ... See more keywords

Parameter Determination Technique for Impedance Control of Interactive Robots Using Transformation Matrices

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.06.034

Abstract: Abstract Interactive robots are usually equipped with impedance control, which is a technique to modulate the system’s dynamics. The degree change in the system’s parameters has been left as a challenging problem, even when the… read more here.

Keywords: technique; interactive robots; methodology; impedance control ... See more keywords

Robust adaptive impedance control of robot manipulators using Szász-Mirakyan operator as universal approximator.

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recommendations! Published in 2020 at "ISA transactions"

DOI: 10.1016/j.isatra.2020.06.017

Abstract: In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász-Mirakyan operator as Universal approximator. Although the Szász-Mirakyan operator has been extensively used for dealing with approximation of… read more here.

Keywords: mirakyan operator; using mirakyan; mirakyan; impedance control ... See more keywords

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

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recommendations! Published in 2019 at "Robotica"

DOI: 10.1017/s026357471900167x

Abstract: SUMMARY This paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection… read more here.

Keywords: control; impedance control; point; environment ... See more keywords

Design and development of a modular wrist rehabilitation robot with impedance control and gravity compensation.

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recommendations! Published in 2025 at "Scientific reports"

DOI: 10.1038/s41598-025-31185-w

Abstract: The number of stroke patients is steadily increasing, highlighting the critical need for rehabilitation to restore motor function. The shortage of rehabilitation specialists and the repetitive nature of traditional exercises underscore the advantages of robotic… read more here.

Keywords: control; gravity compensation; impedance control; rehabilitation ... See more keywords

Fuzzy variable impedance control of space manipulator with unknown environmental stiffness identification

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recommendations! Published in 2025 at "Advanced Robotics"

DOI: 10.1080/01691864.2025.2521090

Abstract: To accomplish interaction tasks in complex contact environments, space manipulators must rely on effective compliance control. However, in practical applications, the parameters of dynamic contact environment are difficult to be measured in real time, which… read more here.

Keywords: fuzzy variable; control; impedance control; identification ... See more keywords

Impedance Control Strategies for Enhancing Sloped and Level Walking Capabilities for Individuals with Transfemoral Amputation Using a Powered Multi-Joint Prosthesis.

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recommendations! Published in 2020 at "Military medicine"

DOI: 10.1093/milmed/usz229

Abstract: INTRODUCTION Powered prostheses are a promising new technology that may help people with lower-limb loss improve their ability to perform locomotion tasks. Developing active prostheses requires robust design methodologies and intelligent controllers to appropriately provide… read more here.

Keywords: level walking; prosthesis; impedance control; powered knee ... See more keywords

Dynamic Compliance Analysis for LHDS of Legged Robot, Part A: Position-Based Impedance Control

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recommendations! Published in 2018 at "IEEE Access"

DOI: 10.1109/access.2018.2875121

Abstract: In this paper, the dynamic compliance analysis for position-based impedance control is studied. First, the leg hydraulic drive system (LHDS) of legged robots is studied and the mathematical model of hydraulic drive unit (HDU) position… read more here.

Keywords: control; based impedance; impedance control; position based ... See more keywords

Force/Torque-Based Impedance Control With Perturbation Observer—Toward High Payload System Robust Trajectory Tracking

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recommendations! Published in 2022 at "IEEE Access"

DOI: 10.1109/access.2022.3221535

Abstract: This paper presents a robust force/torque-based impedance control with a perturbation observer, particularly for high payload systems. One of the special cases of such systems is an assistive robot for paraplegics (ARP) with a sit-stand… read more here.

Keywords: payload; perturbation observer; impedance control; control ... See more keywords