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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Proceedings ArticleDOI
Designing teleoperator architectures for transparency
TL;DR: It is shown that a proper use of all four channels is of critical importance in achieving high-performance telepresence in the sense of accurate transmission of task impedances to the operator.
Journal ArticleDOI
Visual modulation of proprioceptive reflexes during movement
TL;DR: The findings suggest that modulation of reflex circuits occurs online, and is sensitive to changes in visual target information, and suggest a two-level model for visuo-motor control that reflects hierarchical neural organization.
Journal ArticleDOI
ChARMin: The First Actuated Exoskeleton Robot for Pediatric Arm Rehabilitation
TL;DR: Preliminary tests suggest that the ChARMin setup can be used as an advanced exercise tool for arm neurorehabilitation that optimally challenges children and adolescents with severely to moderately affected arm motor functions.
Book ChapterDOI
Parallel Robots: Open Problems
TL;DR: The purpose of this paper is to identify important open theoretical problems in closed-loop chains and parallel robots in this field.
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.