In this paper, we discuss an inherent problem occurring in former operational-based compliance control scheme. In order to obviate this problem, an independent joint-based compliance control scheme is proposed. This control method requires that for the adjustment of the operational compliance matrix, a manipulator should have at least the same number of joints as the number of independent compo...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

In actual work, the system parameters of robot joints will change in real time or cannot be measured, and coupling relationship between various subsystems existence modeling errors make model difficult to determine. Based on such problems, a neural network observation is proposed Decentralized control method for robot. manipulator, firstly, each joint subsystem established by decentralized theo...

Traditional renal puncture surgery requires manual operation, which has a poor effect, low surgical success rate, and high incidence of postoperative complications. Robot-assisted can effectively improve the accuracy punctures, rate surgery, reduce occurrence This paper provides dual-armed robotic scheme to assist surgeons. The system is divided into an ultrasound scanning arm arm. Both arms wi...

The kinematics and dynamics of free-floating manipulators are examined from a fundamental point of view. The dynamic coupling between an uncontrolled spacecraft and its manipulator can make a system dynamically singular at configurations which cannot be predicted by the system’s kinematic properties. Nonholonomic behavior is observed in free-floating systems, and is due to the nonintegrability ...

For tasks requiring robot-environment interaction, stiffness control is important to ensure both stable contact motion and collision safety. The variable stiffness approach has been used to address this problem. We propose a hybrid dual actuator unit (HDAU) which is a novel variable stiffness unit design. The HDAU is composed of a hybrid control module based on an adjustable moment arm mechanis...

Purpose: Sub-acromial impingement syndrome [SIS] is one of the most common causes of shoulder pain, which affects shoulder joint proprioception. Closed kinetic chain [CKC] exercises with a Sling are more effective and safer than open kinetic chain [OKC] exercises. This study aimed to compare the efficiency of OKC and Sling exercises [TRX] on shoulder sense position joints in overhead athletes w...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

OBJECTIVES To compare lower limb joint torques during sit-to-stand in normal elderly subjects and people with Parkinson's disease, using a developed biomechanical model simulating all phases of sit-to-stand.Design. A cross-sectional study utilizing a Parkinsonian and a control group. BACKGROUND Subjects with Parkinson's disease were observed to experience difficulty in performing sit-to-stand...