3 accepted papers
Advanced control algorithms are essential for enhancing the functionality of prosthetic hands, enabling them to operate in diverse conditions. This paper presents a Model Reference Adaptive Controller (MRAC) developed for a tendondriven soft continuum wrist, integrated into the ‘PRISMA HAND II’ pros…
Friction in compact, geared actuators remains a primary barrier to transparency in upper-limb exoskeletons, especially near zero velocity and during frequent reversals. A momentum-based estimation framework is developed and evaluated on a two-DoF active device (modified EDUExo), where joint friction…
Safety is of utmost importance in surgical robots, as they operate in a complex and dynamic environment that directly impacts the patient’s health based on the surgical procedure’s success. One of the main difficulties in the control of surgical manipulators is in efficiently encoding dynamic nonlin…