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   Articles with "joint torque" as a keyword



Adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation

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recommendations! Published in 2024 at "International Journal of Robust and Nonlinear Control"

DOI: 10.1002/rnc.7624

Abstract: In this work, an adaptive fast terminal sliding mode control (AFSMC) approach based on joint torque estimation and friction compensation is proposed to enhance the trajectory tracking accuracy of robotic manipulators under variable load conditions.… read more here.

Keywords: joint torque; torque estimation; friction compensation; control ... See more keywords

Disturbance compensation of a dual-arm underwater robot via redundant parallel mechanism theory

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recommendations! Published in 2017 at "Meccanica"

DOI: 10.1007/s11012-016-0505-0

Abstract: Disturbance compensation is one of the major issues for underwater robots to hover as a mobile platform and to manipulate an object in an underwater environment. This paper presents a new strategy of disturbance compensation… read more here.

Keywords: disturbance compensation; redundant parallel; compensation; robot ... See more keywords

Just noticeable differences for elbow joint torque feedback

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recommendations! Published in 2021 at "Scientific Reports"

DOI: 10.1038/s41598-021-02630-3

Abstract: Joint torque feedback is a new and promising means of kinesthetic feedback imposed by a wearable device. The torque feedback provides the wearer temporal and spatial information during a motion task. Nevertheless, little research has… read more here.

Keywords: elbow joint; joint torque; torque feedback; noticeable differences ... See more keywords

Evaluation of vertical and multi-axial suspension seats for reducing vertical-dominant and multi-axial whole body vibration and associated neck and low back joint torque and muscle activity

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recommendations! Published in 2022 at "Ergonomics"

DOI: 10.1080/00140139.2022.2051611

Abstract: Abstract The primary aim of this laboratory-based human subject study was to evaluate the biomechanical loading associated with mining vehicles’ multi-axial whole body vibration (WBV) by comparing joint torque and muscle activity in the neck… read more here.

Keywords: torque muscle; suspension; multi axial; vibration ... See more keywords

Comparative Study of Foot Fixation Methods and Sensor Arrangements in Ankle Joint Torque Measurement Equipment

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recommendations! Published in 2022 at "IEEE Access"

DOI: 10.1109/access.2022.3218012

Abstract: Joint torque estimation techniques are used for evaluating human motor function. Particularly, ankle joint torque is essential for evaluating the walking function. Ankle joint torque can be derived by fixing the metatarsophalangeal (MTP) joint and… read more here.

Keywords: ankle joint; sensor arrangements; fixation; joint torque ... See more keywords

Ankle Joint Torque Prediction Using an NMS Solver Informed-ANN Model and Transfer Learning

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recommendations! Published in 2022 at "IEEE Journal of Biomedical and Health Informatics"

DOI: 10.1109/jbhi.2022.3207313

Abstract: In this work, we predicted ankle joint torque by combining a neuromusculoskeletal (NMS) solver-informed artificial neural network (hybrid-ANN) model with transfer learning based on joint angle and muscle electromyography signals. The hybrid-ANN is an ANN… read more here.

Keywords: transfer learning; prediction; joint torque; ann model ... See more keywords

Physics-Informed Neural Networks With Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots

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recommendations! Published in 2025 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3562792

Abstract: This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmonic drives. The approach integrates Physics-Informed Neural Networks (PINNs) for… read more here.

Keywords: joint torque; humanoid robots; control; torque estimation ... See more keywords

Identifying Current Dynamics of Robot Payload Based on Iterative Weighting Estimation

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recommendations! Published in 2025 at "IEEE Transactions on Instrumentation and Measurement"

DOI: 10.1109/tim.2025.3554883

Abstract: Accurate payload dynamics benefit robotic applications, such as model-based control. However, existing methods rely on joint torque signals for identifying payload dynamics. For these robots that are not equipped with joint torque sensors, the torques… read more here.

Keywords: joint torque; identification errors; payload dynamics; payload ... See more keywords

A Practical and Adaptive Method to Achieve EMG-Based Torque Estimation for a Robotic Exoskeleton

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recommendations! Published in 2019 at "IEEE/ASME Transactions on Mechatronics"

DOI: 10.1109/tmech.2019.2893055

Abstract: To improve the efficacy of robotic exoskeleton-based rehabilitation training, active joint torque of subjects should be detected. This paper presents a practical and adaptive method to estimate active joint torque using electromyography (EMG) signals for… read more here.

Keywords: practical adaptive; active joint; emg; robotic exoskeleton ... See more keywords

Lower-Limb Joint Torque Prediction Using LSTM Neural Networks and Transfer Learning

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recommendations! Published in 2022 at "IEEE Transactions on Neural Systems and Rehabilitation Engineering"

DOI: 10.1109/tnsre.2022.3156786

Abstract: Estimation of joint torque during movement provides important information in several settings, such as effect of athletes’ training or of a medical intervention, or analysis of the remaining muscle strength in a wearer of an… read more here.

Keywords: transfer learning; joint; lower limb; joint torque ... See more keywords

Skeletal muscle shape influences joint torque exertion through the mechanical advantages.

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recommendations! Published in 2025 at "Journal of applied physiology"

DOI: 10.1152/japplphysiol.00997.2024

Abstract: Skeletal muscle morphology is linked to its function. Extensive literature demonstrates that muscle volume is crucial for determining joint torque exertion, a primary function of muscle. However, whether muscle shape also influences torque exertion capacity… read more here.

Keywords: joint torque; muscle; muscle shape; shape ... See more keywords