Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

L Roveda, D Piga - Autonomous Robots, 2021 - Springer
Industrial robots are increasingly used to perform tasks requiring an interaction with the
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 …

Sensorless optimal interaction control exploiting environment stiffness estimation

L Roveda, AA Shahid, N Iannacci… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
Industrial robots are increasingly used to perform tasks that require an interaction with the
surrounding environment (eg, assembly tasks). Such environments are usually (partially) …

Observer-based adaptive force–position control for nonlinear bilateral teleoperation with time delay

SAM Dehghan, HR Koofigar, H Sadeghian… - Control Engineering …, 2021 - Elsevier
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 …

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 …

Robust state dependent Riccati equation variable impedance control for robotic force-tracking tasks

L Roveda, D Piga - International Journal of Intelligent Robotics and …, 2020 - Springer
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 …

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 …

Designing a robust controller for a lower limb exoskeleton to treat an individual with crouch gait pattern in the presence of actuator saturation

M Khamar, M Edrisi, S Forghany - Isa Transactions, 2022 - Elsevier
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 …

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 …

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 …