Stiffness and Impedance Control Using Lyapunov Theory for Robot-Aided Rehabilitation

International Journal of Social Robotics

Volumn 4, Issue SUPPL.1, 2012, Pages 107-119

  Mehdi, Haifa ^a   Boubaker, Olfa ^a  

^a UNIVERSITY OF CARTHAGE   (Tunisia)

Author keywords

Impedance control; Lyapunov theory; Robot aided rehabilitation; Stiffness control

Indexed keywords

AGRICULTURAL ROBOTS; ASYMPTOTIC STABILITY; CONSTRAINT THEORY; LYAPUNOV METHODS; NONLINEAR PROGRAMMING; SOCIAL ROBOTS;

COMPLIANT MOTION CONTROL; IMPEDANCE CONTROL; INEQUALITY CONSTRAINT; LYAPUNOV THEORIES; NON-LINEAR OPTIMIZATION; POSITION AND FORCE CONTROL; ROBOT-AIDED REHABILITATIONS; STIFFNESS CONTROL;

STIFFNESS;

EID: 84864997976     PISSN: 18754791     EISSN: 18754805     Source Type: Journal    
DOI: 10.1007/s12369-011-0128-5     Document Type: Article

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