This paper presents an overview of admittance control as a method of physical interaction
control between machines and humans. We present an admittance controller framework and …

This study explains the design and control of three degrees of freedom therapeutic exercise
robot (Physiotherabot) for the lower limbs of a patient who needs rehabilitation after a spinal …

The new technological advances opened widely the application field of robots. Robots are
moving from the classical application scenario with structured industrial environments and …

There is an increasing trend in using robots for medical purposes. One specific area is the
rehabilitation. There are some commercial exercise machines used for rehabilitation …

This brief presents a new control framework of electric power steering (EPS) systems for
ground vehicles based on admittance control. An impedance filter is used to define the …

Robotic devices that can support human's motions, such as exoskeletons, have recently
drawn attention. Body weight support (BWS) systems are potential robotic devices that …

The human arm including the shoulder, elbow, wrist joints and exclusion scapular motion
has 7 Degrees of Freedom (DOF) while positioning of the wrist in space and orientating the …

Purpose: This paper deals with the kinematic modelling of an arm exoskeleton used for
human rehabilitation. The biomechanics of the arm was studied and the 9 Degrees of …

Control and overall system performance of an upper limb exoskeleton, as a wearable robot,
is dictated in part by the human machine interface and the implemented control algorithm …

PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use
neural PD and PID controls to reduce integration gain, and provides explicit conditions on …