in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employe...

One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in everyday human environments. It is, however, not t...

Exoskeletons are utilized extensively in robotic rehabilitation and power augmentation purposes. One of the most recognised control algorithms utilized in this field is the impedance controller. Impedance control approach provides the capability of realizing different rehabilitation exercises by tuning the target impedance gains. Trial and error experimental approach is one of the most common m...

microgrid presents an efficient and novel solution for integrating many new energy generating resources with traditional distribution networks. having an appropriate protective scheme is a fundamental challenge in achieving microgrid plans. it is proven that traditional protective plans are not efficient for protecting microgrid, since the network is dynamic and the level of fault current chang...