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Regressor-free force/position control of fixed-base exoskeletons for rehabilitation tasks.
Luis Ivan Lugo-Villeda
Antonio Frisoli
Vicente Parra-Vega
Massimo Bergamasco
Published in:
IROS (2009)
Keyphrases
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position control
robotic manipulator
force control
control scheme
closed loop
control strategies
impedance control
control system
degrees of freedom
end effector
tactile sensing
feedback loop
dc motor
robot arm
pid controller
robotic systems
neural network
manipulation tasks
genetic algorithm