Relevant bibliographies by topics / Contrôle en admittance

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Contrôle en admittance'

Author: Grafiati
Published: 25 May 2024

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Journal articles on the topic "Contrôle en admittance"

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Yamamoto, Kaoru. "Synthesis of passive interconnections in mass chains achieving a scale-free performance." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 235, no. 9 (March 29, 2021): 1709–17. http://dx.doi.org/10.1177/09596518211004303.

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This article is concerned with the synthesis problem of passive mechanical admittances that connect masses in a chain. The mass chain is excited at one boundary point, and the admittances are designed to suppress the disturbance independent of the length of the chain. The scalar transfer functions from the disturbance to a given intermass displacement are studied. The disturbance rejection performance is optimised over a class of arbitrary positive real mechanical admittances. The resulting admittance is synthesised mechanically using springs, dampers, and inerters only.
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Kitsios, E. E., and R. F. Boucher. "The Dynamics of Vortex Amplifiers. Part 1: Analytical Model." Journal of Dynamic Systems, Measurement, and Control 107, no. 3 (September 1, 1985): 176–81. http://dx.doi.org/10.1115/1.3140717.

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A semi-empirical technique for the dynamic modeling of vortex amplifiers is demonstrated with reference to one particular vortex amplifier geometry. The model parameters are determined explicitly from the amplifier static characteristics and geometry except for two which are estimated from measurements of the amplifier’s dynamic response. The two are time constants associated with the chamber time delay and the vortex rotational inertia. The model is linearized about a working point and is presented in terms of an admittance matrix. The paper is continued in Part 2 where two of the amplifier’s transfer admittances are measured experimentally and compared with the model predictions.
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Xiong, Xiangming, and Xiaotian Li. "A Global Optimization Method to Determine the Complex Material Constants of Piezoelectric Bars in the Length Thickness Extensional Mode." Actuators 10, no. 8 (July 22, 2021): 169. http://dx.doi.org/10.3390/act10080169.

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Optimization methods have been used to determine the elastic, piezoelectric, and dielectric constants of piezoelectric materials from admittance or impedance measurements. The optimal material constants minimize the difference between the modeled and measured admittance or impedance spectra. In this paper, a global optimization method is proposed to calculate the optimal material constants of piezoelectric bars in the length thickness extensional mode. The algorithm is applied to a soft PZT and a hard PZT and is shown to be robust.
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Karnam, Murali, Philippe C. Cattin, Georg Rauter, and Nicolas Gerig. "Qualitative and quantitative assessment of admittance controllers for hand-guiding surgical robots." at - Automatisierungstechnik 71, no. 7 (July 1, 2023): 515–27. http://dx.doi.org/10.1515/auto-2023-0063.

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Abstract When using redundant medical robots for hand-guiding heavy endoscopic tools, admittance control allows a completely defined tool and robot null space motion control. Although not a novel concept, comparative studies that help to design and implement admittance control are missing. In a user study, we compared four admittance controllers: one zero-torque controller that used measured joint torques and three others differently mapping forces/torques measured at the handle to tool tip velocity. We found that two of the four controllers (Dynamic Mass and Integrated Mass) outperformed the others.
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Abdullahi, Auwalu Muhammad, Ado Haruna, and Ronnapee Chaichaowarat. "Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot." Journal of Sensor and Actuator Networks 13, no. 2 (March 28, 2024): 24. http://dx.doi.org/10.3390/jsan13020024.

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.
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Jiang, Jinlei, Jingjing Luo, Hongbo Wang, Xiuhong Tang, Fan Nian, and Lizhe Qi. "Force Tracking Control Method for Robotic Ultrasound Scanning System under Soft Uncertain Environment." Actuators 13, no. 2 (February 6, 2024): 62. http://dx.doi.org/10.3390/act13020062.

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Robotic ultrasound scanning has excellent potential to reduce physician workload, obtain higher-quality imaging, and reduce costs. However, the traditional admittance control strategy for robotics cannot meet the high-precision force control requirements for robots, which are critical for improving image quality and ensuring patient safety. In this study, an integral adaptive admittance control strategy is proposed for contact force control between an ultrasound probe and human skin to enhance the accuracy of force tracking. First, a robotic ultrasound scanning system is proposed, and the system’s overall workflow is introduced. Second, an adaptive admittance control strategy is designed to estimate the uncertain environmental information online, and the estimated parameters are used to modify the reference trajectory. On the basis of ensuring the stability of the system, an integral controller is then introduced to improve the steady-state response. Subsequently, the stability of the proposed strategy is analysed. In addition, a gravity compensation process is proposed to obtain the actual contact force. Finally, through a simulation analysis, the effectiveness of the strategy is discussed. Simultaneously, a series of experiments are carried out on the robotic ultrasound scanning system, and the results show that the strategy can successfully maintain a constant contact force under soft uncertain environments, which effectively improves the efficiency of scanning.
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Lin, Musong, Hongbo Wang, Jianye Niu, Yu Tian, Xincheng Wang, Guowei Liu, and Li Sun. "Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training." Machines 9, no. 11 (November 22, 2021): 301. http://dx.doi.org/10.3390/machines9110301.

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Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because of mobility difficulty every year. Strength training is an effective method to improve lower extremity ability but is limited by the shortage of medical staff. Thus, this paper proposes a robot-assisted active training (RAAT) by an adaptive admittance control scheme with virtual reality interaction (AACVRI). AACVRI consists of a stiffness variable admittance controller, an adaptive controller, and virtual reality (VR) interactions. In order to provide human-robot reality interactions corresponding to virtual scenes, an admittance control law with variable stiffness term was developed to define the mechanics property of the end effector. The adaptive controller improves tracking performances by compensating interaction forces and dynamics model deviations. A virtual training environment including action following, event feedback, and competition mechanism is utilized for improving boring training experience and engaging users to maintain active state in cycling training. To verify controller performances and the feasibility of RAAT, experiments were conducted with eight subjects. Admittance control provides desired variable interactions along the trajectory. The robot responds to different virtual events by changing admittance parameters according to trigger feedbacks. Adaptive control ensures tracking errors at a low level. Subjects were maintained in active state during this strength training. Their physiological signals significantly increased, and interaction forces were at a high level. RAAT is a feasible approach for lower limb strength training, and users can independently complete high-quality active strength training under RAAT.
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Žlajpah, Leon, and Tadej Petrič. "Unified Virtual Guides Framework for Path Tracking Tasks." Robotica 38, no. 10 (July 26, 2019): 1807–23. http://dx.doi.org/10.1017/s0263574719000973.

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SUMMARYIn this paper, we propose a novel unified framework for virtual guides. The human–robot interaction is based on a virtual robot, which is controlled by the admittance control. The unified framework combines virtual guides, control of the dynamic behavior, and path tracking. Different virtual guides and active constraints can be realized by using dead-zones in the position part of the admittance controller. The proposed algorithm can act in a changing task space and allows selection of the tasks-space and redundant degrees-of-freedom during the task execution. The admittance control algorithm can be implemented either on a velocity or on acceleration level. The proposed framework has been validated by an experiment on a KUKA LWR robot performing the Buzz-Wire task.
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Faulring, Eric L., Kevin M. Lynch, J. Edward Colgate, and Michael A. Peshkin. "Haptic Display of Constrained Dynamic Systems via Admittance Displays." IEEE Transactions on Robotics 23, no. 1 (February 2007): 101–11. http://dx.doi.org/10.1109/tro.2006.886837.

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In the Cobotic Hand Controller, we have introduced an admittance display that can render very high impedances (up to its own structural stiffness). This is due to its use of infinitely variable transmissions. While admittance displays typically excel at rendering high impedances, the incorporation of infinitely variable transmissions in the Cobotic Hand Controller allows the stable display of a wide dynamic range, including low impedances. The existence of a display that excels at rendering high-impedance constraints, but has high-fidelity control of low impedances tangent to those constraints, has led us to describe an admittance control architecture not often examined in the haptics community. In this paper, we develop a comprehensive approach that enables rendering of rigid motion constraints while simultaneously preserving the physical integrity of the intended inertial dynamics tangent to those constraints. This is in contrast to conventional impedance-control algorithms that focus primarily on rendering reaction forces along contact normals with constraints. We present this algorithm here, which is general to all admittance displays, and report on its implementation with the Cobotic Hand Controller. We offer examples of rigid bodies and linkages subject to holonomic and/or nonholonomic constraints
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Liu, Qiujiang, Wanqi Zhang, Guotao Cao, Jingwei Liu, Jingjing Ye, Mingli Wu, and Shaobing Yang. "Influence of the Catenary Distributed Parameters on the Resonance Frequencies of Electric Railways Based on Quantitative Calculation and Field Tests." Energies 15, no. 10 (May 19, 2022): 3752. http://dx.doi.org/10.3390/en15103752.

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High-order harmonic resonance is a key issue in the traction power supply systems (TPSS) of electric railways for safe operation. The effective evaluation of the resonance frequency is critical for taking measures to suppress harmonic resonance. In this paper, the influence of the distributed parameters of traction networks on resonance frequencies based on accurate calculation is proposed. The quantitative assessments of the distributed impedance and admittance are investigated. Furthermore, the theoretical calculation is directly verified using field tests at a high voltage level equal to 25 kV. The results show that the resonance frequencies of the TPSS are mainly affected by the distributed parameters, including the self-admittance and self-impedance of the contact wires, and the self-admittance of the positive feeders. In addition, the admittance connected in parallel has a greater effect than the series-connected impedance. The calculation method is also adapted to TPSS connected to renewable energy.
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Dissertations / Theses on the topic "Contrôle en admittance"

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Ding, Wenxiang. "Structural health monitoring of piezoelectric ultrasonic transducers." Electronic Thesis or Diss., Bourges, INSA Centre Val de Loire, 2021. http://www.theses.fr/2021ISAB0008.

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Les transducteurs à ultrasons ont été largement utilisés dans le diagnostic médical, la thérapie, l'évaluation non destructive, le nettoyage, le sonar et d'autres applications. Le bon fonctionnement du transducteur lui-même est un facteur clé de la fiabilité globale du système. Cependant, en raison d'une mauvaise utilisation par l’opérateur ou d'une dégradation des matériaux, des défauts peuvent survenir tels que des ruptures dans le câblage, des fissures dans les matériaux passifs, l’endommagement des matériaux actifs, une délamination entre les couches constitutives du dispositif ... Ce travail de thèse porte sur une analyse détaillée de l'influence de délaminations sur les performances du transducteur, visant à déterminer des procédures pour faciliter le suivi du comportement du transducteur pendant sa durée de vie et la détection des dégradations avant qu'elles n'affectent significativement les performances du système dans son ensemble.Dans le cadre de ce travail, un modèle analytique bidimensionnel original pour l’étude des vibrations couplées dans les résonateurs piézoélectriques est proposé. Des solutions générales pour toutes les grandeurs physiques dans les systèmes de coordonnées cartésiennes et cylindriques sont déduites des équations tensorielles de la piézoélectricité. Elles sont exprimées sous forme de séries de fonctions trigonométriques ou de Bessel. L'impédance électrique, la forme du mode et le spectre de fréquences des céramiques piézoélectriques sont calculés par la méthode analytique proposée ainsi que par la méthode des éléments finis. La comparaison des résultats de ces deux méthodes montre un excellent accord.Une étude systématique de l'influence de différents types de délaminations sur les performances des transducteurs ultrasonores monoéléments et multi-éléments est présentée. Des modèles par éléments finis sont développés pour montrer l'impact des différents types de délaminations ainsi que d'autres facteurs sur l'admittance électromécanique (EMA) de transducteurs composés soit d'un disque soit de parallélépipèdes de céramiques piézoélectriques, d'un milieu arrière et d'une lame adaptatrice. Des études expérimentales sont mises en place pour valider les modèles et des indicateurs quantitatifs sont proposés. Des éléments sont réalisés en impression 3D (milieu arrière, lame adaptatrice) et montés sur des échantillons de céramiques piézoélectriques pour obtenir un transducteur modèle intact et des transducteurs modèles avec délaminations. La comparaison entre les résultats numériques et expérimentaux montre un bon accord et permet d’affirmer que des modifications de l'EMA peuvent révéler l'apparition et l'étendue d'une délamination entre les éléments constitutifs d’une sonde échographique
Ultrasonic transducers have been widely used in medical diagnostic, therapy, non-destructive evaluation, cleaning, underwater sonar, and other applications. The proper functioning of the transducer itself is a key factor in the reliability of the entire system. However, due to the misuse of operators or material degradation, defects may occur, such as breakages in cables, cracks, damaged or weakened crystals, and delamination between layers. This contribution focuses on a detail analysis of the influence of bonding delamination on the performance of the transducer, aiming to determine procedures to facilitate the monitoring of the behavior of the transducer during its lifetime and the detection of degradations before they significantly affect the performance of the system.In the frame of this work, an original two-dimensional analytical model for coupled vibrations of finite piezoelectric resonators is proposed. General solutions for all the physical quantities in Cartesian and cylindrical coordinate systems are deduced from the governing equations. They are expressed as a series of trigonometric or Bessel functions. Electrical impedance, mode shape, and frequency spectrum of piezoceramics are calculated by the proposed analytical method as well as by the finite element method. Comparison of the results of these two methods shows an excellent agreement.A systematic investigation of the influence of different kinds of bonding delamination on the performance of single-element and linear array ultrasonic transducers is presented. Finite element models are developed to show the impact of bonding delamination as well as other factors on the electromechanical admittance (EMA) of ultrasonic transducers, which are composed of a piezoceramic disk or parallelepiped, a backing, and a matching layer. Experimental studies are set up to validate the models and quantitative indicators are proposed. 3D printed backings and matching layers are mounted on piezoceramic elements to obtain an intact model transducer and delaminated ones. Comparison between numerical and experimental results show a good agreement, which allows to affirm that changes in EMA can reveal the occurrence and extent of a delamination in an ultrasound probe
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Fortineau, Vincent. "Couplage physique humain robot lors de tâches rythmiques en interaction avec l'environnement : estimation de l'impédance mécanique." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST077.

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Les robots sont de plus en plus amenés à interagir avec des humains ou des environnements anthropiques en vue de collaboration. La connaissance des propriétés visco-élastiques cartésiennes humaines durant des interactions physiques avec des environnements procure un éclairage au champ des sciences du mouvement humain, et aussi à la robotique collaborative pour la conception de commandes innovantes bio-inspirées. Dans cette thèse, la focalisation est placée sur une modélisation linéaire très simple en impédance mécanique du membre supérieur, qui fait entrer en jeu les paramètres cartésiens apparents en raideur, amortissement et masse. Cette modélisation permet d'approcher des comportements en rejet de perturbations qui interviennent notamment lors d'interactions physiques.Une expérience a été mise en œuvre avec un robot articulé piloté en admittance cartésienne, pour permettre des estimations d'impédance mécanique du bras de participants pendant une tâche de référence permettant de générer des mouvements rythmiques, avec des retours haptiques. Une méthode permettant l'estimation des paramètres du modèle en impédance, basée sur l'approximation des trajectoires virtuelles en position et force lors de faibles perturbations ne gênant pas la réalisation de la tâche, est proposée. Les trajectoires virtuelles sont approchées par des interpolations de splines ou des optimisations de sinusoïdes.Une trentaine de participants ont pris part aux expériences proposées pour permettre des estimations significatives de variations des paramètres visco-élastiques apparents et mieux comprendre leurs implications dans la réalisation d'une tâche en interaction avec un robot. Le compromis stabilité-transparence du couplage du robot avec un environnement en impédance a finalement été analysé pour proposer une amélioration des réglages du contrôle en admittance cartésienne
Robots are more inclined to interact with humans or their environment for collaborative purposes. Knowledge on the human endpoint vis-coelastic properties during physical interactions provides insights for the field of human movement science and also for the design of innovative bio-inspired collaborative robotic control strategies. In this work, the focus is placed on a simplistic linear mechanical model of the human arm, with endpoint apparent parameters like stiffness, damping and mass. Perturbation rejection behaviours occuring remarkably during physical interactions can be met using this modelling.In order to estimate those properties for the human arm, an experimental test-bed was designed using an endpoint admittance controled polyarticulated robot. A benchmark task was used so that rhythmic movements emerged, while haptic feedback were introduced by the robot. A methodology to identify the linear parameters of the chosen impedance model was designed, tackling the issue of the estimation of virtual trajectories of the arm during dynamic movements. The estimations of the arm's virtual trajectories both in position and force relied on spline interpolations and sine optimisations, for small deviations that did not alter the performances of the task.A cohort of participants took part in experiments proposed to observe significant variations of the viscoelastic apparent parameters, and improve the understanding of the implications of such variations during a physical interaction with a robot. The famous trade-off between stability and transparency while the robot is coupled with an environment was then study thanks to the obtained estimations, to enhance the tuning of the endpoint admittance control empirically designed
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Deal, Aaron M. "Hybrid Position/Natural Admittance Control for Laparoscopic Surgery." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1323374547.

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Peer, Angelika. "Design and control of admittance-type telemanipulation systems." kostenfrei, 2008. http://mediatum2.ub.tum.de/doc/651760/651760.pdf.

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Gadou-Sanyal, Damien. "Dynamic Virtual Admittance Control Hardware-In-The-Loop Real-Time Simulation." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-278510.

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To enhance the transient stability and the power oscillation damping of the powergrid, supplementary controllers can be applied to the embedded point-to-point High-Voltage Direct Current (HVDC) links. The work presented in this report aimed tovalidate the Dynamic Virtual Admittance Control (DVAC) designed in SuperGridInstitute, in Software- and Hardware-In-The-Loop (SIL and HIL) simulations.The DVA control was first studied analytically and implemented in an offlinesimulation, on a basic test-system. A two-area test-system was then modelled as thebase for validation of the stabilising control. The fault applied to test the controller’sefficiency was a three-phase short-circuit on one of the AC transmission lines linkingthe two areas. The DVAC was validated on the test-system, first by SIL, and thenby HIL real-time simulation. For the purpose of turning the simulation into an HILsimulation, the DVAC was implemented in code C in a Raspberry Pi computer, andthe IEC 61850 communication protocol was studied in detail to be configured for theHIL simulation’s set-up.The SIL and HIL simulations of the DVAC on a three-phase short-circuit provedthe control’s ability to damp power oscillations in around 5 seconds, twice as fast asif no control is implemented.
För att förbättra elnätets transientstabilitet och dämpning kan kompletterandestyrenheter användas på inbäddade högspänningslikströmslänkar (HVDC). Arbetetsom presenteras i denna rapport syftade till att validera Dynamic Virtual Admittance(DVA) reglering, utvecklat i SuperGrid Institute, i simuleringar med mjukochhårdvara-i-loop (SIL & HIL).DVA studerades först analytiskt och implementerades i en offlinesimulering, påett grundläggande provsystem. Ett testsystem i två områden modellerades sedansom bas för validering av regleringens stabilisering. Felet som användes för attprova styrenhetens effektivitet var en trefas kortslutning på en av de växelströmsledningarsom förbinder de två områdena. DVAC validerades på provsystemet,först av SIL och sedan av HIL realtidssimulering. För att omvandla simuleringen tillen HIL-simulering implementerades DVAC i kod C i en Raspberry Pi-dator, och IEC61850-kommunikationsprotokollet studerades i detalj för att konfigureras för HILsimuleringensuppsättning.SIL och HIL simulering av DVAC validerades för en trefasig kortslutning ochbekräftade att regleringen kunde dämpa ut effektoscillationerna inom 5 sekunder,dubbelt så snabbt jämfört med om ingen reglering var implementerad.
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PARRA, A. C. V. "Admittance Control of a Robotic Knee Orthosis Based on Motion Intention Through sEMG of Trunk Muscles." Universidade Federal do Espírito Santo, 2017. http://repositorio.ufes.br/handle/10/9692.

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Made available in DSpace on 2018-08-02T00:01:48Z (GMT). No. of bitstreams: 1 tese_11565_ThesisACVP20180508-81637.pdf: 9323067 bytes, checksum: 3c50251ad23cc171ea10091e88332e89 (MD5) Previous issue date: 2017-12-04
The population that requires devices for motion improvement has increased considerably, due to aging and neurological impairments. Robotic devices, such as robotic orthosis, have greatly advanced with the objective of improving both the mobility and quality of life of people. Clinical researches remark that these devices, working in constant interaction with the neuromuscular and skeletal human system, improves functional compensation and rehabilitation. Hence, the users become an active part of the training/rehabilitation, facilitating their involvement and improving their neural plasticity. For this purpose, control approaches based on motion intention have been presented as a novel control framework for robotic devices. This work presents the development of a novel robotic knee exoskeleton controlled by motion intention based on sEMG, which uses admittance modulation to assist people with reduced mobility and improve their locomotion. For recognition of the lower-limb motion intention, sEMG signals from trunk are used, which implies a new approach to control robotic assistive devices. The control system developed here includes a stage for human-motion intention recognition (HMIR) system, which is based on techniques to classify motion classes related to knee joint. The motion classes that are taken into account are: stand-up, sit-down, knee flexionextension, walking, rest in stand-up position and rest sit-down position. For translation of the users intention to a desired state for the robotic knee exoskeleton, the system includes a finite state machine, in addition to admittance, velocity and trajectory controllers, which has also the function of stopping the movement according to the users intention. This work also proposes a method for on-line knee impedance modulation, which generates variable gains through the gait cycle for stance control during gait. The proposed HMIR system showed, in off-line analysis, an accuracy between 76% to 83% to recognize motion intention of lower-limb muscles, and 71% to 77% for trunk. Experimental on-line results of the controller showed that the admittance controller proposed here offers knee support in 50% of the gait cycle, and assists correctly the motion classes. A positive effect of the controller on users regarding safety during gait was also found, with a score of 4 in a scale of 5. Thus the robotic knee exoskeleton introduced here is an alternative method to empower knee movements using motion intention based on sEMG signals from lower limb and trunk muscles.
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Ngoo, Cheng Shu. "Admittance and impedance haptic control for realization of digital clay as an effective human machine interface (HMI) device." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31842.

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Thesis (M. S.)--Mechanical Engineering, Georgia Institute of Technology, 2010.
Committee Chair: Book, Wayne; Committee Member: Glezer, Ari; Committee Member: Sadegh, Nader. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Baumeyer, Julien. "Co-manipulation sûre d’un robot de protonthérapie." Thesis, Orléans, 2017. http://www.theses.fr/2017ORLE2015/document.

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Cette thèse se place dans un contexte médical de traitements oncologiques, plus particulièrement en protonthérapie robotisée. L’objectif de cette thèse, réalisée sous contrat Cifre avec la société LEONI CIA Cable Systems, est le développement d’une commande en co-manipulation sûre dédiée à un robot médical sériel. Cette commande doit permettre à un opérateur de manipuler intuitivement et précisément un robot de grande inertie positionneur de patients. Les contributions portent sur deux axes, d’une part le développement et l’implémentation sur le robot Orion de l’entreprise LEONI CIA Cable Systems d’une commande en admittance ainsi que la comparaison de trois dispositifs haptiques, et d’autre part le développement d’un mécanisme de détection de collisions proprioceptif permettant l’amélioration de la sécurité de fonctionnement. À partir d’une revue de la littérature concernant les commandes compliantes, nous avons développé et implémenté une commande en admittance dédiée au robot Orion en tenant compte de la discrétisation de la commande par le contrôleur spécifique de ce robot. Une expérience de comparaison sur le robot nous a permis d’identifier le dispositif haptique le mieux adapté au cas clinique considéré. Après une étude de l’état de l’art des mécanismes de détection de collisions, une approche fréquentielle de la modélisation du couple axial prenant en compte les rapports de réduction élevés et de technologie différente du robot a été proposée. Elle permet de modéliser finement le couple théoriquement fourni par les moteurs ; celui-ci est ensuite comparé avec la mesure du couple réellement produit afin de détecter une éventuelle collision
This PhD thesis takes place in a medical context of oncological treatments, more particularly in robotised protontherapy. The objective of this thesis, carried out under a CIFRE contract with LEONI CIA Cable Systems, is the development of a safe comanipulation control dedicated to a serial medical robot. This control law should allow an operator to intuitively and precisely manipulate a robot of high inertia for accurate patients positioning. The contributions of this thesis focus on the development and implementation of an admittance-controlled Orion robot from LEONI CIA Cable Systems and the comparison of three haptic devices, and on the other hand, on the development of a proprioceptive collision detection mechanism allowing the improvement of operational safety. Based on a review of the literature on compliant controls, we have developed and implemented an admittance control approach dedicated to the Orion robot, taking into account the discretization of the control by the controller specific to this robot. A comparison experiment on the robot allowed us to identify the haptic device best suited to the clinical case considered. Based on a state of the art of collision detection mechanisms analysis, a frequency approach of the modeling of the axial torque taking into account the high reduction ratios and different robot technology has been proposed. It allows us to finely model the torque theoretically provided by the motors ; The latter is then compared with the measurement of the torque actually produced in order to detect a possible collision
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9

Haberbusch, Matthew Gavin. "Autonomous Skills for Remote Robotic Assembly." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1588112797847939.

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Pacilli, Alessandra. "Riabilitazione robotica della postura in Pediatria; progettazione, sviluppo, implementazione del sistema di controllo e sensorizzazione di un robot riabilitativo e sua utilizzazione nella routine clinica." Doctoral thesis, Università degli studi di Padova, 2014. http://hdl.handle.net/11577/3423856.

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The ability to maintain postural control is a complex task and, although it is natural for healthy subjects, it is often disrupted in stroke patients. The control of posture, in fact, results from the integration of several sensory inputs, both from the body and the external environment; these inputs are real-time processed to implement a dynamic equilibrium configuration for the entire musculoskeletal system. Postural rehabilitation has grown remarkably in the neuro-rehabilitation field and has met new challenges in the so-called cortical plasticity¬, which is also the rationale for rehabilitation robotics. This principle, in fact, states the ability of the CNS to reorganize itself, even after a cerebrovascular accident. This reason led to the introduction, during the last years, of a huge number of robotic platforms to improve the postural rehabilitation process, both in the fields of Research and clinical routine. The lack, in the literature, of a motorized, 2 DOFs platform, able to interact with the subjects standing upon it, led to the design of a device with these requirements, intended for use by the pediatric patients of the MARlab (Movement Analysis and Robotics laboratory, Ospedale Pediatrico “Bambino Gesù”, Palidoro, RM). After the dimensioning of the selected components, the platform has been designed in a CAD environment. The final layout is a Cartesian robot with a 15x15 cm2 workspace and a low profile (170 mm), and it is ideal to be installed, in the future, below the floor. Two linear induction motors are used to power the two motion axis and, in order to make the platform compliant with the patient, each motor slider was sensorized with a 1DOF load cell. A study was then conducted to evaluate the influence of the inertial forces over the load cell output. The goal of this project was to design and realize a robot prototype, called SlideBiT2D, with an open, evolvable architecture. For this reason we chose to install the network of sensors and actuators over a CAN fieldbus; we also selected, as the network master node, a PCI card CANopen-compliant, which could be programmed in LabVIEW environment. As regards the software, it has been designed on a three-level structure, two of which has already been developed. In this way it is not mandatory to have a good knowledge of the CANopen protocol in order to develop the user interface. To make the platform a real haptic interface, ie able to respond to the external forces imposed by the patient, we used, for both motors, the speed control mode; in addition, a superior control loop was imposed to simulate a 2DOFs spring, placed in parallel with a damper of coefficient C. The control thus produced was tested first with a test bench, along a single dimension, and was then successfully implemented in 2D, over the platform. Since the platform is a medical device, some special attentions were used throughout the design activities. As regards the requirements for electrical safety, the development of the electrical panel was demanded to a certified company (MPD Ltd – Induno Olona, VA). The use of the platform before its installation under the floor will be conducted in combination with the use of the overhead crane installed in the MARlab of Santa Marinella. Finally, the platform commissioning/start-up will require further calibration phase for motors and load cells, in order to assure quality measurements and safe interaction of the robot with the patient.
Il mantenimento della postura è un compito complesso, pur nella sua apparente naturalezza, ed è spesso compromesso in pazienti con patologie a carico del Sistema Nervoso Centrale (SNC). Questo compito è, infatti, frutto dell’integrazione di numerosi input sensoriali, propriocettivi ed esterocettivi, da parte del SNC; tali input vengono elaborati per attuare, in ogni istante, durante tutte le attività quotidiane, una configurazione di equilibrio per l’intero apparato muscoloscheletrico. La riabilitazione del mantenimento della postura ha acquistato importanza sempre crescente nel campo della neuro-riabilitazione ed ha conosciuto nuovi stimoli nel razionale della terapia mediata da robot, la quale si fonda sul concetto della plasticità corticale, ossia sulla capacità del SNC di riorganizzarsi anche a seguito di accidenti cerebrovascolari. Per questo motivo, gli ultimi decenni hanno visto l’introduzione di numerose piattaforme robotiche sia in Ricerca che in Clinica, allo scopo di migliorare il processo di recupero dell’equilibrio e la sua oggettivazione. L’assenza, in letteratura, di una piattaforma motorizzata a 2 gdl (gradi di libertà), e in grado di interagire con i soggetti posti al di sopra di essa, hanno portato alla progettazione di un dispositivo con queste caratteristiche, destinato all’utilizzo da parte dei pazienti pediatrici del MARlab (Movement Analysis and Robotics laboratory) dell’OPBG (Ospedale Pediatrico “Bambino Gesù”) di Palidoro (RM). Dopo l’individuazione delle specifiche di progetto, la scelta e il dimensionamento dei componenti, la piattaforma è stata disegnata in ambiente CAD, risultando un robot cartesiano con un workspace di 15x15 cm2 ed un basso profilo (170 mm), ideale per essere in futuro installata al di sotto del pavimento. Il cuore del dispositivo è costituito dai due motori lineari a induzione elettromagnetica LinMot, che consentono di attivare ciascuno una direzione del moto. Al fine di rendere la piattaforma interattiva, è stato necessario sensorizzare ciascun motore con una cella di carico, così da rilevare la volontà esterna di muovere il robot. Inoltre, trattandosi di un dispositivo destinato a pazienti pediatrici, aventi cioè massa corporea confrontabile con quella della piattaforma, è stato condotto uno studio per valutare la possibilità di compensare in accelerazione le uscite delle celle di carico, depurandole dalla forza di inerzia associata proprio al moto della piattaforma. La filosofia di approccio alla costruzione di questo prototipo, denominato SlideBiT2D, è quella di un sistema aperto ed evolvibile, sia dal punto di vista dell’hardware che del software, pronto ad accogliere nuove necessità espresse da parte del personale medico. Per questo, si è scelto di installare la rete di sensori e attuatori su bus di campo CAN, scegliendo come master della rete un nodo CANopen-compliant, programmabile però in ambiente LabVIEW. Il software è stato concepito come articolato su tre livelli e ne sono stati sviluppati i due più bassi, in modo da svincolare la creazione di una interfaccia utente da qualsiasi conoscenza del CANopen, protocollo molto efficiente ma anche complesso da apprendere. Per rendere la piattaforma una vera e propria interfaccia aptica, in grado cioè di rispondere alle sollecitazioni imposte dall’esterno, i motori sono stati controllati in velocità e, in più, è stato sviluppato un controllore di livello superiore per simulare una molla a 2 gdl, di rigidezza variabile K, posta in parallelo ad uno smorzatore con coefficiente C. Il controllo così realizzato è stato testato dapprima con un banco di prova, lungo una sola dimensione, ed è stato poi implementato con successo in 2D sulla piattaforma. Avere a che fare con un prototipo di un dispositivo medico ha richiesto alcune attenzioni particolari durante tutta la attività di progettazione. Anzitutto, per ciò che riguarda la sicurezza elettrica, il quadro elettrico è stato sviluppato da una ditta certificata (MPD srl – Induno Olona, VA). L’utilizzo stesso della piattaforma, in attesa che essa sia interrata, sarà auspicabilmente condotto in combinazione con l’utilizzo di un carroponte in dotazione al MARlab dell’OPBG di Santa Marinella. Infine, come si conviene ad ogni dispositivo di misura, la messa in opera del robot richiederà una ulteriore fase di taratura dei motori e delle catene di misura presenti, al fine di garantire la qualità delle misure e la sicurezza nella interazione per il paziente.. Infine, come si conviene a un qualsiasi dispositivo di misura, la messa in opera del robot richiederà una ulteriore fase di taratura dei motori e delle catene di misura presenti, al fine di garantire la qualità delle misure e la sicurezza nella interazione per il paziente.
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Books on the topic "Contrôle en admittance"

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Center, Langley Research, ed. Effect of nonzero surface admittance on receptivity and stability of compressible boundary layer. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1994.

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Center, Langley Research, ed. Effect of nonzero surface admittance on receptivity and stability of compressible boundary layer. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1994.

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Blasi, Francesco, and Paolo Tarsia. Therapeutic approach in haemoptysis. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780199600830.003.0127.

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The aim of diagnostic studies in patients with haemoptysis is two-fold—locate the source of bleeding and identify the underlying cause. A chest X-ray may be informative regarding conditions involving the lung parenchyma, pulmonary vasculature, or the heart, but may be normal in 20–40% of cases. A chest CT scan may allow correct localization of the bleeding site in 65–100% of cases. Contrast-enhanced CT scans allow high resolution angiographic studies that may be useful prior to planning bronchial arterial embolization. Bronchoscopy may allow identification of the site of bleeding, identify the underlying cause, help clear the airways from blood clots favouring gas exchange, and be a means to stop the bleeding. Treatment of haemoptysis varies from outpatient management to intensive care unit admittance. Choice of optimal management depends on the intensity of bleeding, degree of respiratory compromise, and severity of underlying cardiorespiratory status. Important steps in the management of patients with massive haemoptysis include resuscitation, airway protection and patient stabilization as the priority, subsequent localization of the site of bleeding, and specific interventions to stop the bleeding and prevent recurrence. Bronchoscopy may be useful in stopping bleeding through use of cold saline lavage, use of topical vasoconstrictive agents, or temporary endobronchial tamponade with a balloon catheter. The procedure of choice in many cases is selective bronchial artery embolization. With this procedure immediate control of bleeding may be obtained in 70–95% of patients, although recurrence has been reported in 10–30% of cases.
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Book chapters on the topic "Contrôle en admittance"

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Natale, Ciro. "Admittance Control." In Encyclopedia of Robotics, 1–5. Berlin, Heidelberg: Springer Berlin Heidelberg, 2020. http://dx.doi.org/10.1007/978-3-642-41610-1_89-1.

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Andersen, Bjørg Marit. "Admittance to Hospital." In Prevention and Control of Infections in Hospitals, 663–75. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-319-99921-0_47.

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Duan, Rui, Chongchong Wang, Chin-Yin Chen, Guilin Yang, and Long Chen. "Variable Admittance Control by Measuring Arm Impedance." In Intelligent Robotics and Applications, 480–90. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-89098-8_45.

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Esther, A. Angeline, P. S. Manoharan, J. Nivedita, and P. Deepamangai. "Control Strategy for Modified Quasi-Admittance Source Inverter." In Intelligent Communication Technologies and Virtual Mobile Networks, 489–99. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-1767-9_36.

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Horibe, Takamasa, Emma Treadway, and R. Brent Gillespie. "Comparing Series Elasticity and Admittance Control for Haptic Rendering." In Haptics: Perception, Devices, Control, and Applications, 240–50. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42321-0_22.

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Tang, Qirong, Hao Yang, Wenrui Wang, Min Yu, Lou Zhong, Baoping Ma, and Wenshuo Yue. "Grasp Compliant Control Using Adaptive Admittance Control Methods for Flexible Objects." In Intelligent Robotics and Applications, 515–25. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-6483-3_44.

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Lacerda, Bruno Praça, and Rangel Arthur. "Admittance Control Study Applied in the Exercise of Proprioception." In Proceedings of the 7th Brazilian Technology Symposium (BTSym’21), 415–22. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-08545-1_39.

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Wan, Hongyu, Silu Chen, Chi Zhang, Chin-Yin Chen, and Guilin Yang. "Admittance Control of Flexible Joint with Dual-Disturbance Observer." In Intelligent Robotics and Applications, 197–207. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-6495-6_17.

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Tao, Yong, Dongming Han, Tianmiao Wang, Yufan Zhang, He Gao, and Jiahao Wan. "Fuzzy Variable Admittance Control-Based End Compliance Control of Puncture Ablation Robot." In Intelligent Robotics and Applications, 527–40. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-6480-2_44.

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Chen, Wenhao, Shengli Song, Husheng Fan, and Ming Zhao. "Control of Lower Extremity Exo-skeleton Based on Admittance Method." In Advances in Intelligent Systems and Computing, 455–60. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70990-1_66.

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Conference papers on the topic "Contrôle en admittance"

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Shimoga, K. B., and A. A. Goldenberg. "Grasp Admittance Center: Choosing Admittance Center Parameters." In 1991 American Control Conference. IEEE, 1991. http://dx.doi.org/10.23919/acc.1991.4791858.

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KOTANI, Izumi, and Takahiro NOZAKI. "Admittance Separation Method for Admittance-Based Bilateral Control." In IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2023. http://dx.doi.org/10.1109/iecon51785.2023.10311697.

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Ficanha, Evandro M., and Mohammad Rastgaar. "Impedance and Admittance Controller for a Multi-Axis Powered Ankle-Foot Prosthesis." In ASME 2014 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/dscc2014-6032.

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This paper introduces a finite state machine to select between impedance and admittance control for a powered ankle-foot prosthesis controllable in both Dorsiflexion-Plantarflexion (DP) and Inversion-Eversion (IE). Strain gauges are installed on the prosthesis’ foot to measure the strain caused by ground reaction forces, which are correlated to the external torques in DP and IE. The external torques are used for the admittance and impedance controllers. Additionally, the finite state machine uses the strain gauges feedback to detect the heel-strike and switch to admittance control. The admittance control accepts torque feedback to generate motion, this way larger feedback torques effectively reduces the stiffness of the ankle. During push off, the finite state machine switches to impedance control, accepting motion feedback to generate the appropriated torques. The quasi-static stiffness of the prosthesis with impedance control was tested, showing a near linear relationship between the torque feedback gain and the stiffness of the ankle. The finite state machine and controllers were also evaluated using a custom-made circular treadmill and the results were compared to the results of position and passive controllers; showing that the impedance/admittance controller was capable of tracking the desired input trajectory while decreasing the required torque at the ankle joint.
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Hauptle, P., P. Hubinsky, and A. Stanicki. "Embedded impedance- & admittance control." In 2011 IEEE 3rd International Students Conference on Electrodynamics and Mechatronics (SCE III). IEEE, 2011. http://dx.doi.org/10.1109/sce.2011.6092121.

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Ott, Christian, Ranjan Mukherjee, and Yoshihiko Nakamura. "Unified Impedance and Admittance Control." In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). IEEE, 2010. http://dx.doi.org/10.1109/robot.2010.5509861.

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He, Bailin, Xin Zhou, Yaping Huai, Jiaqing Liu, Pengbo Li, Can Wang, and Xinyu Wu. "Admittance Control based Hemiplegic Exoskeleton Motion Control." In 2022 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2022. http://dx.doi.org/10.1109/rcar54675.2022.9872219.

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Nagarajan, Umashankar, Gabriel Aguirre-Ollinger, and Ambarish Goswami. "Integral Admittance Shaping for exoskeleton control." In 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015. http://dx.doi.org/10.1109/icra.2015.7139989.

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Cousin, Christian A. "Adaptive Admittance Control of Hybrid Exoskeletons." In 2020 American Control Conference (ACC). IEEE, 2020. http://dx.doi.org/10.23919/acc45564.2020.9147928.

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Zheng, Luocheng, Pengfei Rao, Yingke Li, and Mingguo Zhao. "Admittance Control Based Humanoid Robot Standing Balance Control." In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO). IEEE, 2019. http://dx.doi.org/10.1109/arso46408.2019.8948802.

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Wen Yu, Roberto Carmona Rodriguez, and Xiaoou Li. "Neural PID admittance control of a robot." In 2013 American Control Conference (ACC). IEEE, 2013. http://dx.doi.org/10.1109/acc.2013.6580608.

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