Impedance Learning-Based Adaptive Control for Human–Robot Interaction
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3107483
Abstract: In this article, a new learning-based time-varying impedance controller is proposed and tested to facilitate an autonomous physical human–robot interaction (pHRI). Novel adaptation laws are formulated for online adjustment of robot impedance based on human… read more here.
Keywords: robot interaction; impedance learning; impedance; human robot ... See more keywords
Repetitive Impedance Learning-Based Physically Human-Robot Interactive Control.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on neural networks and learning systems"
DOI: 10.1109/tnnls.2023.3243091
Abstract: Model-based impedance learning control can provide variable impedance regulation for robots through online impedance learning without interaction force sensing. However, the existing related results only guarantee the closed-loop control systems to be uniformly ultimately bounded… read more here.
Keywords: repetitive impedance; control; impedance learning; impedance ... See more keywords
Human-in-the-Loop Control of Soft Exosuits Using Impedance Learning on Different Terrains
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3160052
Abstract: Many previous works of soft wearable exoskeletons (exosuit) target at improving the human locomotion assistance, without considering the impedance adaption to interact with the unpredictable dynamics and external environment, preferably outside the laboratory environments. This… read more here.
Keywords: loop control; human loop; impedance learning; impedance ... See more keywords