Impedance compensation of SUBAR for back-drivable force-mode actuation

IEEE Transactions on Robotics

Volumn 25, Issue 3, 2009, Pages 512-521

  Kong, Kyoungchul ^a   Moon, Hyosang ^b   Hwang, Beomsoo ^b   Jeon, Doyoung ^b   Tomizuka, Masayoshi ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Sogang University   (South Korea)

Author keywords

Exoskeleton; Force mode actuation; Human robot interaction; Mechanical impedance

Indexed keywords

ACTUATION SYSTEMS; ASSISTIVE; CONTROL ALGORITHMS; CONTROL EFFORT; EXOSKELETON; FORCE-MODE ACTUATION; HUMAN INTENTIONS; HUMAN ROBOT INTERACTIONS; HUMAN-ROBOT INTERACTION; IMPAIRED PEOPLE; IMPEDANCE COMPENSATION; MECHANICAL DESIGN; MECHANICAL IMPEDANCE; MODEL VARIATION; RESISTIVE FORCES; ROBUST CONTROL METHODS; WEARABLE ROBOTS; ZERO IMPEDANCE;

ACTUATORS; DC MOTORS; FRICTION; MAN MACHINE SYSTEMS; ROBUST CONTROL;

ROBOTS;

EID: 67649292781     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2019786     Document Type: Article

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