Predictive compliance for interaction control of robot manipulators

Fernández, José de Gea; Kirchner, Frank

doi:10.1109/iros.2011.6094476

Cited by 2 publications

(2 citation statements)

References 17 publications

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“…The second level of safety involves controlling the hardware components, referred to as the "low-level control." The low-level control involves controlling the joint actuators using force and torque rather than position level control [168]. In the presence of an obstacle, the positional control cannot change its initial trajectory except for when it hits the obstacle.…”

Section: Control and Safetymentioning

confidence: 99%

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

2022

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Exoskeleton robots are electrically, pneumatically, or hydraulically actuated devices that externally support the bones and cartilage of the human body while trying to mimic the human movement capabilities and augment muscle power. The lower extremity exoskeleton device may support specific human joints such as hip, knee, and ankle, or provide support to carry and balance the weight of the full upper body. Their assistive functionality for physically-abled and disabled humans is demanded in medical, industrial, military, safety applications, and other related fields. The vision of humans walking with an exoskeleton without external support is the prospect of the robotics and artificial intelligence working groups. This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking. First, a historical view on the development of walking exoskeletons is presented and various lower body exoskeleton designs are categorized in different application areas. Then, these designs are studied from design, modeling, and control viewpoints. Finally, a discussion on future research directions is provided.

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Section: Control and Safetymentioning

confidence: 99%

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

2022

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“…Thus, a prediction mechanism anticipates the consequences of self-generated actions and the motor system acts accordingly to synchronize the change in compliance of the arm with the object's removal. Inspired by these studies, work has been carried out in this direction by focusing on prediction for a specific case: the high-level control of the robotic arm's compliance [51].…”

Section: Outlook−architectural Frameworkmentioning

confidence: 99%