Optimal impedance control for an elbow rehabilitation robot

Abstract

This paper deals with our efforts to design impedance controllers for safe and compliant elbow rehabilitation robot. Constant impedance control and optimal impedance control algorithms were evaluated, the first control algorithm adopted the constant impedance parameters meeting the requirement of keeping stable system, and the second one adjusted the… (More)
DOI: 10.1109/URAI.2017.7992759

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