This paper studies the high-performance robust motion control of machine tools. The newly proposed adaptive robust control (ARC) is applied to make the resulting closed-loop system robust to model uncertainties, instead of the disturbance observer (DOB) design previously tested by many researchers. Compared to DOB, the proposed ARC has a better tracking performance and transient in the presence...

This paper presents an impedance controller for five-finger dexterous robot hand DLR-HIT II, which is derived in Cartesian space. By considering flexibility in finger joints and strong mechanical couplings in differential gear-box, modeling and control of the robot hand are described in this paper. The model-based friction estimation and velocity observer are carried out with an extended Kalman...

In this paper, a force-controllable compact actuator module for a wearable hand exoskeleton system is proposed. To interact with virtual objects naturally with a hand exoskeleton, a small actuator module, which can generate the desired force accurately, is highly required. In the proposed actuator module, a series elastic actuator (SEA) mechanism was applied for the force mode control. Based on...