the presence of an unknown environment, have been proposed [8]. The Object Impedance Control (OIC), an extension of impedance control, has been developed for multiple robotic arms manipulating a common object [9]. The OIC enforces a designated impedance not of an individual manipulator endpoint, but of the manipulated object itself. A combination of feedforward and feedback controls is employed...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

As a basic building block in power systems, the three-phase voltage-source inverter (VSI) connects the distributed energy to the grid. For the inductor-capacitor-inductor (LCL)-filter three-phase VSI, according to different current sampling position and different reference frame, there mainly exist four control schemes. Different control schemes present different impedance characteristics in th...

We present a novel control method achieving stable multiple-degrees-of-freedom electroacoustic resonators. Such broadband absorbers, composed of a feedback-controlled electrodynamic loudspeaker, have many practical applications to real-world acoustic engineering problems, such as low-frequency industrial noise reduction in the range of [20 200 Hz]. The proposed control architecture combines a c...

This paper deals with force and impedance control of series elastic actuators for driving the joints of an exoskeleton for lower limbs. Series elastic actuators are devices where elastic components are introduced between the motor’s output and the load. From the deflection of these components, it is possible to measure the force applied to the load and to control it. Also, the mechanical impeda...

In this paper, an impedance control algorithm based on velocity for capturing two low impact docking mechanisms (LIDMs) is presented. The main idea of this algorithm is to track desired forces when the position errors of two LIDMs are random by designing the relationship between the velocity and contact forces measured by a load sensing ring to achieve low impact docking. In this paper, the gov...

The NOCH framework was designed to serve as a foundation for development of models of neural motor control. The driving purpose behind the NOCH is bridging the gap between the control theory and neuroscience research in the field of motor control. This is done by identifying the underlying functions in control theory models of motor control and examining the structure/connections of the neural ...

Efficient control of reciprocal activation and cocontraction of the muscles are critical to perform skillful actions with suitable force and impedance. However, it remains unclear how the brain controls force and impedance while recruiting the same set of muscles as actuators. Does control take place at the single muscle level leading to force and impedance, or are there higher-order centers de...

To approach robustness and optimal performance, biological musculoskeletal systems can adapt their impedance while interacting with their environment. This property has motivated modern robotic designs including variable-impedance actuators and control methods, based on the capability to vary visco-elastic properties actively or passively. Even though variable-impedance actuation and impedance ...

Feedback delays are a major challenge for any controlled process, and yet we are able to easily control limb movements with speed and grace. A popular hypothesis suggests that the brain largely mitigates the impact of feedback delays (∼50 ms) by regulating the limb intrinsic visco-elastic properties (or impedance) with muscle co-contraction, which generates forces proportional to changes in joi...