Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
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This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.Abstract:
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approa...read more
Citations
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Journal ArticleDOI
Modeling and control of a 4-ADOF upper-body exoskeleton with mechanically decoupled 3-D compliant arm-supports for improved-pHRI
TL;DR: It is shown that the use of the proposed mechanically decoupled passive-compliant arm-supports with active compliance strategy results in an improved and safer physical human-robotic interaction, for the exoskeletons using limited-power actuators.
Journal ArticleDOI
Global, Unified Representation of Heterogenous Robot Dynamics Using Composition Operators
TL;DR: In this article , a global, unified model for a class of heterogeneous dynamical systems is proposed, which is based on composition operator theory and can be applied to robotics problems.
Book ChapterDOI
Automatic Visualization and Graphical Editing of Virtual Modeling Networks for the Open-Source Synth-A-Modeler Compiler
TL;DR: The SaM Designer has been created to help assist users in automatically visualizing virtual models and in graphically editing them, and was able to automatically visualize 72 test models using an example set of visualization parameters.
Proceedings ArticleDOI
Environment modeling with physiological motion disturbance for surgical teleoperation
TL;DR: Through this study, it is shown that the interaction with such environment is not passive and its influence should be considered in the teleoperator design.
Design and Implementation of a Novel Rehabilitation Robot for Acute Stroke Patients
TL;DR: An experiment on healthy subjects indicates that assistance does work to help the user follow the desired trajectory, that resistance can be used to make the task more difficult, and that the games have potential for making the exercise more engaging.
References
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Book
Linear Optimal Control Systems
Huibert Kwakernaak,Raphael Sivan +1 more
TL;DR: In this article, the authors provide an excellent introduction to feedback control system design, including a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems.
Book
Introduction to physical system dynamics
R. Robert Rosenberg,Dean Karnopp +1 more
TL;DR: The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics, controls and vibrations.
Dissertation
Practical robustness measures in multivariable control system analysis
TL;DR: A very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived and are able to guarantee feedback system stability in the face of model errors of larger magnitude.
Dissertation
Stability robustness of impedance controlled manipulators coupled to passive environments
TL;DR: Thesis. as discussed by the authors, Mass. Institute of Technology, Dept. of Mechanical Engineering, Boston, Massachusetts, U.S.A. (M.S., 1987).
Practical robustness measures in multivariable control system analysis. Ph.D. Thesis
TL;DR: In this paper, the robustness of linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria, and robustness tests are unified under a common framework based on the nature and structure of model errors.