In this work, redundancy resolution and impedance modulation strategies have been employed to enhance intuitiveness and stability in physical human-robot interaction during co-manipulation tasks. An impedance strategy to control a redundant manipulator is defined in the Cartesian space. Different modulation laws for the impedance parameters are tested in combination with different strategies to...

This paper proposes a hybrid control method of using the impedance control and the computed-torque control for biped robot locomotion. The computedtorque control is used for supporting (mn.strained) leg. For the free leg, the impedance control is wed, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and ...

The paper deals with an innovative parallel robot (PKM) for rapid assembly tasks, developed within the Italian research programme PRIDE. The aim of this threedegree-of-freedom, purely translational robot is to perform operations in which the contact forces are regulated without the use of force sensors, by means of impedance control. After a description of the prototype mechanical realization, ...

This paper addresses the issue of position/force tracking for a constrained robot within the framework of impedance control. An adaptive controller is developed in which a varying desired impedance is adaptively tuned with the robot’s position tracking error. It guarantees the asymptotic convergence of the robot position tracking error and the boundedness of the constraint force tracking error....

This paper focuses on the development of a P300 speller and the design of a rehabilitation robot using a brain-machine interface. The combined feature set provides a norm that can be used to assess trends of the user’s increased or decreased independence. The combined feature set is found to maintain a 90% sorting rate; it can also reduce the relationship of individual independence for each sub...

In this paper, the contact motion between rigid body systems floating in space is formulated and dynamic conditions are investigated in order to capture a non-cooperative satellite. As for the theoretical investigation, impedance matching is discussed for the case in which the robot hand under impedance control approaches and collides with a passive target, and a specific impedance value is def...

In this article, we present an online scalable tele-impedance framework, which enables the individual and collaborative control of multiple different robotic platforms. The framework provides intuitive low-cost interface with visual feedback a SpaceMouse, through operator can define desired task-level trajectories impedance profiles. With simple mouse click, user switch between robots operation...