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A Testable Robust Stability Framework for the Variable Impedance Control of 1-DOF Exoskeleton With Variable Stiffness Actuator.
Lin Liu
Berno J. E. Misgeld
Anake Pomprapa
Steffen Leonhardt
Published in:
IEEE Trans. Control. Syst. Technol. (2021)
Keyphrases
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position control
impedance control
degrees of freedom
control scheme
force control
neural network
closed loop
robotic manipulator
robust stability
control system
fuzzy logic
sufficient conditions
robot arm
lyapunov function