Stiffness-based tuning of an adaptive impedance controller for robot-assisted rehabilitation of upper limbs.
Berenice MaldonadoMarco MendozaIsela BonillaIvan Reyna-GutierrezPublished in: EMBC (2015)
Keyphrases
- robot assisted
- position control
- minimally invasive
- control scheme
- force feedback
- closed loop
- robotic manipulator
- control system
- contact force
- force control
- pid controller
- control strategies
- image guided
- real time
- virtual reality
- coronary artery bypass
- control strategy
- human body
- end effector
- dynamic model
- cochlear implant
- robot arm
- control method
- control law
- optimal control
- surgical procedures
- degrees of freedom
- robot control
- visual feedback
- computer vision