A novel stiffness node controller which enables simultaneous regulation of torque and stiffness in multi-muscle driven joints.
Salvatore AnnunziataJan PaskarbeitAxel SchneiderPublished in: IROS (2011)
Keyphrases
- contact force
- position control
- impedance control
- force control
- feedback loop
- finite element analysis
- master slave
- finite element model
- control scheme
- control algorithm
- closed loop
- data driven
- finite element
- real time
- control system
- robotic manipulator
- pid controller
- dynamic model
- human motion
- degrees of freedom
- directed graph
- mathematical model