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Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks
Industrial robots are increasingly used to perform tasks requiring an interaction with the
surrounding environment (eg, assembly tasks). Such environments are usually (partially) …
surrounding environment (eg, assembly tasks). Such environments are usually (partially) …
Power assist rehabilitation robot and motion intention estimation
ZA Adeola-Bello, NZ Azlan - International Journal of Robotics and …, 2022 - pubs2.ascee.org
This article attempts to review papers on power assist rehabilitation robots, human motion
intention, control laws, and estimation of power assist rehabilitation robots based on human …
intention, control laws, and estimation of power assist rehabilitation robots based on human …
Sensorless optimal interaction control exploiting environment stiffness estimation
Industrial robots are increasingly used to perform tasks that require an interaction with the
surrounding environment (eg, assembly tasks). Such environments are usually (partially) …
surrounding environment (eg, assembly tasks). Such environments are usually (partially) …
Observer-based adaptive force–position control for nonlinear bilateral teleoperation with time delay
In this paper, a novel observer-based force control scheme is proposed to guarantee the
position and force tracking in nonlinear teleoperation systems, subject to constant …
position and force tracking in nonlinear teleoperation systems, subject to constant …
Robust sliding mode control based on GA optimization and CMAC compensation for lower limb exoskeleton
Y Long, Z Du, W Wang, W Dong - Applied bionics and …, 2016 - Wiley Online Library
A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The
exoskeleton is required to shadow human motion intent accurately and compliantly to …
exoskeleton is required to shadow human motion intent accurately and compliantly to …
Robust state dependent Riccati equation variable impedance control for robotic force-tracking tasks
Industrial robots are increasingly used in highly flexible interaction tasks, where the intrinsic
variability makes difficult to pre-program the manipulator for all the different scenarios. In …
variability makes difficult to pre-program the manipulator for all the different scenarios. In …
Comparison of human-robot interaction torque estimation methods in a wrist rehabilitation exoskeleton
M Saadatzi, DC Long, O Celik - Journal of Intelligent & Robotic Systems, 2019 - Springer
In this paper, experimental implementation and comparative accuracy evaluation of five
methods for estimation of human-robot interaction torques are presented. These methods …
methods for estimation of human-robot interaction torques are presented. These methods …
Designing a robust controller for a lower limb exoskeleton to treat an individual with crouch gait pattern in the presence of actuator saturation
Crouch gait is a gait anomaly observed in youngsters with cerebral palsy (CP).
Rehabilitation robots are useful for treating individuals with crouch gait. Multiple factors have …
Rehabilitation robots are useful for treating individuals with crouch gait. Multiple factors have …
Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances
M Galicki - International Journal of Robust and Nonlinear …, 2023 - Wiley Online Library
A robust finite‐time control law is proposed for mobile manipulators with uncertain both
kinematic and dynamic equations. Moreover, the following external disturbances are …
kinematic and dynamic equations. Moreover, the following external disturbances are …
Composite adaptive control for bilateral teleoperation systems without persistency of excitation
Y Li, Y Yin, S Zhang, J Dong, R Johansson - Journal of the Franklin Institute, 2020 - Elsevier
Composite adaptive control schemes, which use both the system tracking error and the
prediction error to drive the updating law, have become widespread in achieving an …
prediction error to drive the updating law, have become widespread in achieving an …