Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator.
Takayuki OnoderaEiji SuzukiMing DingHiroshi TakemuraHiroshi MizoguchiPublished in: J. Robotics Mechatronics (2013)
Keyphrases
- position control
- force control
- control strategy
- control system
- impedance control
- closed loop
- open loop
- control scheme
- robot arm
- control method
- degrees of freedom
- control strategies
- robot manipulators
- robotic manipulator
- control algorithm
- control law
- optimal control
- force feedback
- disturbance rejection
- operating conditions
- contact force
- real time
- virtual instrument
- mathematical model
- dynamic model
- end effector
- dc motor
- lyapunov function
- control loop
- control architecture
- pid control
- inverse kinematics
- feedback loop
- matlab simulink
- feedback control
- data acquisition
- fuzzy control
- vector field
- fuzzy controller
- brain signals