Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton.
Yves ZimmermannEmek Baris KüçüktabakFarbod FarshidianRobert RienerMarco HutterPublished in: IROS (2020)
Keyphrases
- multi sensory
- joint space
- dynamically updated
- position control
- partial occlusion
- human computer interaction
- dynamic environments
- robotic manipulator
- robotic arm
- visual feedback
- virtual reality
- lower extremity
- end effector
- real time
- impedance control
- tracking framework
- object tracking algorithm
- cluttered background
- control method
- tactile sensing
- robust tracking
- visual servoing
- control scheme
- optimal control
- force feedback
- degrees of freedom
- visual tracking
- user interaction
- visual object tracking
- reference trajectory
- sagittal plane
- force control
- human operators
- robotic systems
- appearance model
- kalman filter
- mean shift
- control system