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Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task
To obtain an anthropomorphic performance in physical human-robot interaction during a reaching task, a variable impedance control (vIC) algorithm with human-like characteristics is proposed in this article. The damping value of the proposed method is varied with the target position as well as throug...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2022
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8927629/ https://www.ncbi.nlm.nih.gov/pubmed/35308312 http://dx.doi.org/10.3389/fnbot.2022.850692 |