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Preliminary Evaluation of a Performance|based Stiffness Control for ...


A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism ...

A variable stiffness mechanism, which adjusts fishtail stiffness by tuning the effective length of elastic component, is presented. It is ...

Design and torque control base on neural network PID of a variable ...

Yang, Preliminary evaluation of a performance-based stiffness control for upper limb elbow joints rehabilitation,, 2021 IEEE International Conference on ...

SCAPE: Learning Stiffness Control from Augmented Position Control ...

... pre-defined circular path in the wiping task. A similar work demonstrates the performance difference based on the form of the control policy [25], where ...

Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic ...

In this section, we also, present a pseudo-rigid body (PRB) modeling approach for designing tunable legs to achieve desired stiffness ranges. Section 3 ...

Experimental evaluation of Cartesian stiffness control on a seven ...

It is found that Cartesian servo algorithms which use the transpose of the Jacobian and model-based gravity compensation, provide easy programmability and ...

Comparing model-based control methods for simultaneous stiffness ...

These equations are used to model both stiffness and position for the joint. Lastly, the model is fit to data collected from the grub. Test ...

Perturbation-Based Stiffness Inference in Variable Impedance Control

with an optimization-based algorithm, instead of pre-defined motions of the human supervisor. In this way, full control on the perturbations' profile is ...

A Bio-inspired Grasp Stiffness Control for Robotic Hands - Frontiers

The proposed method results in a reduction of the control complexity, needing to independently regulate the joint positions, but requiring only one input to ...

Output‐Based Control of Robots with Variable Stiffness Actuation

The joint stiffness is controlled by a specific control system that directly compensates for the effects of disturbances, external forces and ...

Foundation Drainage/Stiffness Geotextiles – NRRA Geotech Team

Performance Evaluation of Wicking Geotextiles for Improving Drainage and Stiffness ... Preliminary literature review showed that the majority of the ...

Data-Driven Position and Stiffness Control of Antagonistic Variable ...

For each stiffness level, linear and nonlinear Hammerstein models are identified using the least squares method. Experimental results confirm that the outputs ...

Enhanced stiffness modeling of manipulators with passive joints

Mechanical stiffness1 of a manipulator is one of the most important indicators in performance evaluation of robotic systems [1-3]. In particular, for industrial ...

Variable-stiffness joints with embedded force sensor for high ...

Many simulation-based researches have been performed evaluating the benefits of incorporating compliant joints in robotic exoskeletons. Spasticity and spasmodic.

Observer-Based Control of Inflatable Robot with Variable Stiffness

promising performance of the proposed control algorithm. I ... stiffness during the performance of a task. VI. RESULTS AND ANALYSIS.

Simultaneous Position and Stiffness Control for an Inflatable Soft ...

High performance control of soft robot joints, such as the joint presented in this paper, will enable a wide range of robot applications that were previously ...

"Model Based Force Estimation and Stiffness Control for Continuum ...

This method uses numerical minimization to predict a load distribution that will fit a robot model predicted shape to a directly sensed shape. Validation was ...

Variable Stiffness Actuators for Fast and Safe Motion Control

Based on this analysis, the Variable Stiffness Transmission is considered as a candidate technology for high-performance, intrinsically safe mechanism design. 2 ...

Design and Evaluation of a Novel Variable Stiffness Spherical Joint ...

Abstract— In this paper, the design of a new variable stiffness spherical joint for MR-compatible robotics is presented. It is based on the use of ...

Tunable stiffness in fish robotics: mechanisms and advantages

... stiffness based on realtime performance goals and swimming conditions. ... & Curet, O. M. Fin ray stiffness and fin morphology control ribbon-fin-based propulsion ...

Multi-Module Variable Stiffness Manipulator - Soft Robotics Toolkit

An external braided sheath optimizes the 3D motion performance. A ... (2014) STIFF-FLOP surgical manipulator: design and preliminary motion evaluation.