4 accepted papers
For various teleoperation tasks, position-based control is not practical. An impedance-based control is superior e.g. for handling fragile objects, like harvesting fruits or grasping a paper cup. However, only a few researchers have focused on impedance control for teleoperation. In tele-impedance,
Recently, the deflection-domain passivity approach (DDPA) was introduced which does not control a system?s energetic behavior over time but over the deflection of the coupling controller?s virtual spring. So far, it has been applied to guarantee passivity in variable stiffness systems and for chatte
With emerging capabilities, robots will advance gradually into human environments in the near future. Thereby, safety and robustness is currently tackled through intrinsically soft robotics or variable impedances, mainly stiffnesses. In tele-operation, for instance, the control stiffness can be adap
In the field of rehabilitation robotics, transparent, precise and intuitive control of hand exoskeletons still represents a substantial challenge. In particular, the use of compliant systems often leads to a trade-off between lightness and material flexibility, and control precision. In this letter,