Robotic diagnosis of directional force control performance at an end-effector of a limb toward physiotherapeutic support.
Naoya TojoIppei ToyomasuTomoyuki ShimonoShinichiro IshiiPublished in: IECON (2015)
Keyphrases
- force control
- robot manipulators
- position control
- end effector
- impedance control
- inverse kinematics
- robotic arm
- robotic manipulator
- manipulation tasks
- degrees of freedom
- robotic systems
- vision system
- robot arm
- control law
- real time
- control strategy
- closed loop
- mobile robot
- control system
- control scheme
- experimental data
- contact force
- control architecture
- feedback loop
- dynamic model
- fault diagnosis
- human computer interaction