Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot.
Auwalu Muhammad AbdullahiAdo HarunaRonnapee ChaichaowaratPublished in: J. Sens. Actuator Networks (2024)
Keyphrases
- position control
- robotic manipulator
- force control
- control scheme
- control system
- feedback loop
- control strategies
- closed loop
- end effector
- control strategy
- robot arm
- robot manipulators
- control algorithm
- control architecture
- pid controller
- human computer interaction
- degrees of freedom
- dc motor
- robotic systems
- control law
- force feedback
- control method
- adaptive control
- vision system
- motor learning
- inverse kinematics
- human robot
- human robot interaction
- visual servoing
- robot control
- autonomous robots
- case study
- dynamic model
- mobile robot
- reinforcement learning