The aim of this doctoral dissertation was to confirm three rehabilitation robotics theses. The first thesis was linked with the optimization of an upper limb rehabilitation robot design. Two remaining theses were associated with the use of bioelectric signals to control robots. Especially the EMG signals were talking into considerations. Research led to the creation of two upper limb rehabilita...

To gain insight in problems of industrial assembly operations, an anthropomorphic robot equipped with a vision system was used to insert differently shaped pegs into corresponding holes of a plastic ball. Spatial impedance control was used, to properly deal with the interaction between robot and environment and to elegantly chose the impedance of the robot. Simulations gave insight into the beh...

Robot-assisted self-rehabilitation for patients with stroke is significant for their motor recovery. Meanwhile, the surface EMG can reflect human neuromuscular activity and can be used for rehabilitation robot control. In this paper, we propose a Two-Step SVM classification method based on One-versus-One SVM muti-class classification method in order to improve the time efficiency of upper limb ...

This paper presents an efficient compliance control scheme for legs of walking machines interacting with an uncertain environment and proposes an impact control based on neural system. The proposed method combines the technique of the indirect MRAC (Model Reference Adaptive Control) with the properties of self-learning neural nets. Present research is focused on the optimization of motion of me...

This paper proposes the distributed impedance approach as a new formulation of multiple robot systems control. In this approach, each cooperating manipu-lator is provided with its own independant impedance controller. In addition, along selected degrees of freedom , force control is achieved through an external loop, in order to improve control of the object's internal loading. Extensive stabil...

Impedance scaling approach presented in this paper is specially developed for teleoperation robot control to meet requirements to control robots and mechatronic systems with completely different dimensions and mechanic characteristics than the human operator. It is applied to the developed RoTeMiNa robot system with 6 DOF and to the mechatronic handling device with 3 DOF for micro and nano oper...

The paper discusses the difference between explicit sensor-based control and impedance control, using an example of fast vision-based contour tracking. While explicit sensor-based control may cause a rough desired robot path with sharp vertices, impedance control is known to filter the trajectory at the expense of a bigger control error. We present a new implementation and a new approach to imp...