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
Robotic Technology and Stroke Rehabilitation: Translating Research into Practice
TL;DR: Studies on the use of robot-aided neurorehabilitation for the paretic arm after stroke are reviewed and ways in which this technology may provide opportunities for intensive training that complement more conventional therapy methods are discussed.
Journal ArticleDOI
LIMPACT:A Hydraulically Powered Self-Aligning Upper Limb Exoskeleton
Alexander Otten,Carsten Voort,Arno H. A. Stienen,Ronald G.K.M. Aarts,Edwin H.F. van Asseldonk,Herman van der Kooij +5 more
TL;DR: The LIMPACT exoskeleton as discussed by the authors is a dynamic transparent skeleton with high power-to-weight ratio actuators, which is used in identifying the reflex properties of the arm in stroke survivors.
Journal ArticleDOI
Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation
TL;DR: A control method is presented that produces an approximate compensation of an exoskeleton’s inertia, making the natural frequency of the exoskeletons-assisted leg larger than that of the unaided leg.
Journal ArticleDOI
Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems
TL;DR: A powerful 3D geometrical robust stability analysis method based on the notions of wave variables and scattering parameters that results in less conservative guaranteed stability conditions compared to the Llewellyn's criterion, promising a better compromise between stability and performance.
Journal ArticleDOI
Implications of neural networks for how we think about brain function
TL;DR: In this paper, simple neural networks based on neurophysiology are taken from the oculomotor literature to suggest how single-unit interpretability might decrease with increasing task complexity.
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.