Evidence map›Paper›PMID 35370593›Full record

ArticleFrontiers in neurorobotics2022

An Adaptive Time-Varying Impedance Controller for Manipulators.

Xu Liang, Tingting Su, Zhonghai Zhang, Jie Zhang, Shengda Liu, Quanliang Zhao, Junjie Yuan, Can Huang, Lei Zhao, Guangping He

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

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 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Multi-mode adaptive control strategy for a lower limb rehabilitation robot.Frontiers in bioengineering and biotechnology · 2024
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

10 authors.

Xu LiangDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Tingting SuDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Zhonghai ZhangBeijing Aerospace Measurement & Control Technology Co., Ltd, Beijing, China.
Jie ZhangDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Shengda LiuState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
Quanliang ZhaoDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Junjie YuanDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Can HuangDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Lei ZhaoDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.
Guangping HeDepartment of Mechanical and Electrical Engineering, North China University of Technology, Beijng, China.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

Aiming at the situation that the structural parameters of the general manipulators are uncertain, a time-varying impedance controller based on model reference adaptive control (MRAC) is proposed in this article. The proposed controller does not need to use acceleration-based feedback or to measure external loads and can tolerate considerable structure parameter errors. The global uniform asymptotic stability of the time-varying closed-loop system is analyzed, and a selection approach for control parameters is presented. It is demonstrated that, by using the proposed control parameter selection approach, the closed-loop system under the adaptive controller is equivalent to an existing result. The feasibility of the presented controller for the general manipulators is demonstrated by some numerical simulations.

Indexed as

adaptivehuman–robot interactionintelligent controlMRACtime-varying

Identifiers

PMID35370593
PMCPMC8971993

What OpenQuestion holds

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.