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Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system
In the first step, a 1-DOF power-assist robotic system (PARS) is developed for lifting lightweight objects. Dynamics for human–robot co-manipulation of objects is derived that considers human cognition (weight perception). Then, admittance control with position feedback and velocity controller is de...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Springer Berlin Heidelberg
2018
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| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6244568/ https://www.ncbi.nlm.nih.gov/pubmed/30524934 http://dx.doi.org/10.1186/s40638-018-0090-x |