The application of discrete-time adaptive impedance control to rehabilitation robot manipulators

• Published in: Proceedings of the 1994 IEEE International Conference on Robotics and Automation pp. 636 - 642 vol.1
• Main Authors: Shoupu Chen, Harwin, W., Rahman, T.
• Format: Conference Proceeding
• Language: English
• Published: IEEE Comput. Soc. Press 1994
• Subjects: Adaptive control; Force control; Impedance; Manipulator dynamics; Motion control; Programmable control; Rehabilitation robotics; Robot control; Tracking; Trajectory

Rehabilitation robot manipulators for persons with disabilities often encounter contact tasks in uncertain environments. In order for rehabilitation robots to readily adapt to their changing environment, an advanced and practically implementable control approach is needed. This paper present a robot...