Titlebook: Haptics: Perception, Devices and Scenarios; 6th International Co Manuel Ferre Conference proceedings 2008 Springer-Verlag Berlin Heidelberg

一回合

Robust Impedance Control of a Delayed Telemanipulator Considering Hysteresis Nonlinearity of the Piecomplex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for the master side and a sliding-mode-based impedance con

昏迷狀態(tài)

A Pragmatic Method for Stable Stiffness Reflection in Telesurgeryents cannot guarantee stability during hard contact. This paper presents a pragmatic method to avoid instability of a master-slave system during hard contacts, which does not affect the stiffness reflection for soft environments. The time derivative of the interaction force with the environment is u

共同確定為確

Passive Bilateral Control of a Teleoperation System Considering Hysteresis Nonlinearity of Slave Robinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2

ANA

PURG

On-Line Interactive Dexterous Grasping area of hand neuroprosthetics. We consider the case where a user attempts to grasp an object using a robotic hand, but has no direct control over the hand posture. An automated grasp planner searches for stable grasps of the target object and shapes the hand accordingly, allowing the user to succes