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
Admittance control for physical human-robot interaction
TL;DR: This paper presents an admittance controller framework and elaborate control scheme that can be used for controller design and development, and presents seven design guidelines for achieving high-performance admittance controlled devices that can render low inertia, while aspiring coupled stability and proper disturbance rejection.
Journal ArticleDOI
Overview of clinical trials with MIT-MANUS: a robot-aided neuro-rehabilitation facility
TL;DR: Results of the first clinical trial showed that stroke patients treated daily with additional robot-aided therapy during acute rehabilitation had improved outcome in motor activity at hospital discharge, when compared to a control group that received only standard acute rehabilitation treatment.
Journal ArticleDOI
Design of a Multifunctional Anthropomorphic Prosthetic Hand With Extrinsic Actuation
TL;DR: In this article, an anthropomorphic hand prosthesis that is intended for use with a multiple-channel myoelectric interface is presented, which contains 16 joints, which are differentially driven by a set of five independent actuators.
Journal ArticleDOI
Teleoperation controller design using H/sub /spl infin//-optimization with application to motion-scaling
J. Yan,Septimiu E. Salcudean +1 more
TL;DR: A general design strategy based on H/sub /spl infin// theory is presented, which allows a convenient means to trade off the optimization of various performance criteria and system robustness.
Journal ArticleDOI
A theoretical and experimental investigation of impact control for manipulators
Richard Volpe,Pradeep K. Khosla +1 more
TL;DR: It is shown that negative proportional force gains, or impedance mass ratios less than unity, can equivalently provide excel lent impact response without bouncing.
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.