Comparison of multi-sensor admittance control in joint space and task space for a seven degree of freedom upper limb exoskeleton

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Volumn , Issue , 2010, Pages 70-75

  Miller, Levi Makaio ^a,b   Rosen, Jacob ^b  

^a University of Washington   (United States)

^b University of California Santa Cruz   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADMITTANCE CONTROL; CLOSED FORM; CONTROL ALGORITHMS; CURRENT RESEARCHES; DEGREE OF FREEDOM; FORCE SENSOR; HUMAN MACHINE INTERFACE; INTERACTION ENERGIES; INTERACTION FORCES; JACOBIANS; JOINT SPACE; JOINT TORQUES; LOWER ARM; MULTI SENSOR; NATURAL EXTENSION; PEG-IN-HOLE TASKS; POWER EXCHANGE; TASK COMPLETION TIME; TASK SPACE; TASK SPACE CONTROLLERS; TASK-SPACE CONTROL; UPPER ARM; UPPER LIMBS; WEARABLE ROBOTS;

ALGORITHMS; INVERSE KINEMATICS; JOINTS (ANATOMY); MATHEMATICAL OPERATORS; QUALITY ASSURANCE; REDUNDANCY; ROBOTICS; ROBOTS; SENSORS;

CONTROLLERS;

EID: 78650388430     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2010.5628069     Document Type: Conference Paper

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