An interaction torque control improving human force estimation of the rehab-exos exoskeleton.
Massimiliano SolazziMirko AbbresciaRocco VertechyClaudio LoconsoleVitoantonio BevilacquaAntonio FrisoliPublished in: HAPTICS (2014)
Keyphrases
- position control
- lower extremity
- robotic manipulator
- control scheme
- force control
- control strategies
- control system
- closed loop
- impedance control
- human operators
- human interaction
- visual feedback
- control strategy
- external forces
- feedback loop
- joint space
- human robot interaction
- robot arm
- dc motor
- human interactions
- induction motor
- gaze control
- user interaction
- human computer interaction
- degrees of freedom
- human communication
- human robot
- control architecture
- robot manipulators
- contact force
- robot control
- end effector
- pid controller
- control algorithm
- human errors
- visual servoing
- estimation algorithm
- motion planning
- control method
- haptic interaction
- optimal control
- virtual characters