2023
DOI: 10.3390/electronics12030640
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Neural Adaptive Impedance Control for Force Tracking in Uncertain Environment

Abstract: Torque-based impedance control, a kind of classical active compliant control, is widely required in human–robot interaction, medical rehabilitation, and other fields. Adaptive impedance control effectively tracks the force when the robot comes in contact with an unknown environment. Conventional adaptive impedance control (AIC) introduces the force tracking error of the last moment to adjust the controller parameters online, which is an indirect method. In this paper, joint friction in the robot system is firs… Show more

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Cited by 3 publications
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References 24 publications
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