Impedance Control of a 2-DOF Spherical 5-Bar Exoskeleton for Physical Human-Robot Interaction During Rehabilitation and Assessment.
Eric T. WolbrechtV. KetkarJoel C. PerryPublished in: ICORR (2023)
Keyphrases
- human robot interaction
- position control
- impedance control
- manipulation tasks
- robotic manipulator
- degrees of freedom
- force control
- control scheme
- closed loop
- human robot
- control system
- gesture recognition
- end effector
- robot arm
- control strategies
- dc motor
- robot programming
- service robots
- feedback loop
- humanoid robot
- motion planning
- three dimensional
- control strategy
- pointing gestures
- robotic systems
- pose estimation
- pid controller
- robot manipulators
- control architecture
- control method
- machine learning
- neural network
- optimal control
- path planning
- hidden markov models