ArticleFrontiers in neurorobotics2022
Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task.
Article in Frontiers in neurorobotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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2 citing papers in PubMed.
- Active-Assistive Control Based on Dynamic Moving Window for Trajectory Tracking of an Upper Limb Exoskeleton in Assisted Rehabilitation.Sensors (Basel, Switzerland) · 2026Article
- NeglectARm3D: a robotic and virtual reality platform for the three-dimensional assessment of unilateral spatial neglect.Frontiers in robotics and AI · 2026Article
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3 authors.
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Abstract
To obtain an anthropomorphic performance in physical human-robot interaction during a reaching task, a variable impedance control (vIC) algorithm with human-like characteristics is proposed in this article. The damping value of the proposed method is varied with the target position as well as through the tracking error. The proposed control algorithm is compared with the impedance control algorithm with constant parameters (IC) and another vIC algorithm, which is only changed with the tracking error (vIC-e). The different control algorithms are validated through the simulation study, and are experimentally implemented on a cable-driven rehabilitation robot. The results show that the proposed vIC can improve the tracking accuracy and trajectory smoothness, and reduce the interaction force at the same time.
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