Modulation of Joint Stiffness for Controlling the Cartesian Stiffness of a 2-DOF Planar Robotic Arm for Rehabilitation
Author:
Affiliation:
1. Chulalongkorn University,Department of Mechanical Engineering,Bangkok,Thailand,10330
2. Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330
Funder
Thailand Science Research and Innovation
Chulalongkorn University
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10196083/10196094/10196186.pdf?arnumber=10196186
Reference16 articles.
1. Macro-Mini Linear Actuator Using Electrorheological-Fluid Brake for Impedance Modulation in Physical Human–Robot Interaction
2. Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human–Robot Interaction
3. Cartesian impedance control techniques for torque controlled light-weight robots
4. Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control
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