## Adaptive Impedance Control for an Upper Limb Robotic Exoskeleton Using Biological Signals

- Zhijun Li, Zhicong Huang, Wei He, Chun-Yi Su
- IEEE Transactions on Industrial Electronics
- 2017

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@article{Ge1997AdaptiveNN, title={Adaptive neural network control of robot manipulators in task space}, author={Shuzhi Sam Ge and Chang Chieh Hang and L. C. Woon}, journal={IEEE Trans. Industrial Electronics}, year={1997}, volume={44}, pages={746-752} }

- Published 1997 in IEEE Trans. Industrial Electronics
DOI:10.1109/41.649934

In this paper, adaptive neural network control of robot manipulators in the task space is considered. The controller is developed based on a neural network modeling technique which neither requires the evaluation of inverse dynamical model nor the time-consuming training process. It is shown that, if Gaussian radial basis function networks are used, uniformly stable adaptation is assured, and asymptotically tracking is achieved. The controller thus obtained does not require the inverse of the… CONTINUE READING

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