相关论文: System Identification and Two-Degree-of-Freedom Co…

Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…

Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…

In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…

Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…

Traction force microscopy is a method widely used in biophysics and cell biology to determine forces that biological cells apply to their environment. In the experiment, the cells adhere to a soft elastic substrate, which is then deformed…

Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…

Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…

This paper proposes a novel control approach composed of sinusoidal reference trajectories and trajectory tracking controller for the second-order chained form system. The system is well-known as a canonical form for a class of second-order…

We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of…

Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…

In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…

In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…

This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…

Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…

We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…

In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…

Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using…

A common limitation of autonomous tissue manipulation in robotic minimally invasive surgery (MIS) is the absence of force sensing and control at the tool level. Recently, our team has developed miniature force-sensing forceps that can…

Controller design for soft robots is challenging due to nonlinear deformation and high degrees of freedom of flexible material. The data-driven approach is a promising solution to the controller design problem for soft robots. However, the…

This paper presents an insole FSR (Force Sensing Resistor) to dynamically detect weight variations in an exoskeleton system. The proposed methodology is intended for tasks of lifting and lowering heavy weights with an industrial exoskeleton…