Walking impairments are a common sequela of neurological injury, severely affecting the quality of life of both adults and children. Gait therapy is the traditional approach to ameliorate the problem by re-training the nervous system and there have been some attempts to mechanize such approach. In this paper, we present a novel impedance controller for the MIT-Skywalker. In contrast to previous...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

This article describes the impedance control of an in-parallel actuated orientation platform. The algorithm is based on a representation of platform orientation which exploits the equivalent axis of rotation: this approach is more intuitive and easier to visualize than conventional methods based on Cardan or Euler angles. Moreover, since for small angular displacements the Mozzi’s axis lies ver...

The external Cayley transform is used for the conversion between the linear dynamical systems in scattering form and in impedance form. We use this transform to define a class of formal impedance conservative boundary control systems (colligations), without assuming a priori that the associated Cauchy problems are solvable. We give sufficient and necessary conditions when impedance conservative...

Transmitters are used to pass data stream through transmission lines in either current or voltage mode. In high data rate applications, the output impedance of transmitters should match the transmission lines’ characteristic impedance and should be tunable in order to compensate the process, voltage, and temperature variations. The multiplexing technique can be used to extend transmitters signa...

The external Cayley transform is used for the conversion of linear dynamical systems between scattering and impedance forms. We study this transform in the formal setting of colligations which includes all impedance (energy) conservative boundary control systems. Practically motivated sufficient conditions are given to describe when such colligations have well-defined semigroups. We apply these...

BACKGROUND Acupuncture points and meridians are commonly believed to possess unique electrical properties. The experimental support for this claim is limited given the technical and methodological shortcomings of prior studies. Recent studies indicate a correspondence between acupuncture meridians and connective tissue planes. We hypothesized that segments of acupuncture meridians that are asso...

This paper discusses the essential equivalence of second order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is rst done analytically by reviewing each control method and showing how they mathematically correspond for constrained manipulator control. For sti environments the correspondence is exact. However, even for softer envir...

This paper discusses the essential equivalence of second order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is rst done analytically by reviewing each control method and showing how they mathematically correspond for constrained manipulator control. For sti environments the correspondence is exact. However, even for softer envir...

In this paper, a hierarchical control architecture incorporating a novel dual-arm impedance controller is proposed and experimentally evaluated in a valve turning setup. Proposed control architecture incorporates various control/interface modules to render a desired interaction performance in our intrinsically compliant humanoid robot, COMAN: the sensing module provides the manipulation module ...