Stiffness-Observer-Based Adaptive Control of an Intrinsically Compliant Parallel Wrist Rehabilitation Robot.
Tanishka GoyalShahid HussainElisa Martínez MarroquínNicholas A. T. BrownPrashant Kumar JamwalPublished in: IEEE Trans. Hum. Mach. Syst. (2023)
Keyphrases
- adaptive control
- position control
- control law
- end effector
- closed loop
- force control
- control method
- control scheme
- nonlinear systems
- robot manipulators
- adaptive controller
- mobile robot
- feedback control
- visual servoing
- control system
- robot arm
- dynamic environments
- control algorithm
- variable structure
- robotic manipulator
- human robot interaction
- reinforcement learning
- vision system
- humanoid robot
- chaotic systems
- degrees of freedom
- autonomous robots
- control theory
- control strategies
- dynamical systems
- motor learning
- inverse kinematics
- ambient assisted living
- state space
- motor skills
- fuzzy controller
- robotic systems
- multi robot