Learning impedance control of robots with enhanced transient and steady-state control performances
Sign Up to like & getrecommendations! 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
Iterative Learning Impedance for Lower Limb Rehabilitation Robot
Sign Up to like & getrecommendations! Published in 2017 at "Journal of Healthcare Engineering"
DOI: 10.1155/2017/6732459
Abstract: This paper discusses the problem of squatting training of stroke patients. The main idea is to correct the patient's training trajectory through an iterative learning control (ILC) method. To obtain better rehabilitation effect, a patient… read more here.
Keywords: learning impedance; impedance; iterative learning; impedance based ... See more keywords