Physical Human-Robot Interaction Control of Variable Stiffness Exoskeleton With sEMG-Based Torque Estimation.
Yanghui ZhuQingcong WuBai ChenZiyue ZhaoConghui LiangPublished in: IEEE Trans. Ind. Informatics (2023)
Keyphrases
- human robot interaction
- position control
- feedback loop
- joint space
- human robot
- humanoid robot
- robotic manipulator
- impedance control
- manipulation tasks
- force control
- gesture recognition
- closed loop
- control scheme
- control system
- lower extremity
- control strategies
- gaze control
- human centered
- control strategy
- service robots
- control algorithm
- degrees of freedom
- control method
- robot programming
- robot arm
- control architecture
- pid controller
- robotic systems
- dynamic model
- end effector
- dc motor
- induction motor
- pointing gestures
- object oriented
- hidden markov models
- neural network