Abstract
Variable Impedance control allows robots and humans to safely and efficiently
interact with unknown external environments. This tutorial introduces online
impedance adaptation control (OIAC) for variable compliant joint motions
in a range of control tasks: rapid (< 1s) movement control (i.e., whipping
to hit), arm and finger impedance quantification, multifunctional exoskele-
ton control, and robot-inspired human arm control hypothesis. The OIAC
has been introduced as a feedback control, which can be integrated into a
feedforward control, e.g., learned by data-driven methods. This integration
facilitates the understanding of human and robot arm control, closing a re-
search loop between biomechanics and robotics. It shows not only a research
way from biomechanics to robotics, but also another reserved one. This tu-
torial aims at presenting research examples and Python codes for advancing
the understanding of variable impedance adaptation in human and robot
motor control. It contributes to the state-of-the-art by providing an on-
line impedance adaptation controller for wearable robots (i.e., exoskeletons)
which can be used in robotic and biomechanical applications.
interact with unknown external environments. This tutorial introduces online
impedance adaptation control (OIAC) for variable compliant joint motions
in a range of control tasks: rapid (< 1s) movement control (i.e., whipping
to hit), arm and finger impedance quantification, multifunctional exoskele-
ton control, and robot-inspired human arm control hypothesis. The OIAC
has been introduced as a feedback control, which can be integrated into a
feedforward control, e.g., learned by data-driven methods. This integration
facilitates the understanding of human and robot arm control, closing a re-
search loop between biomechanics and robotics. It shows not only a research
way from biomechanics to robotics, but also another reserved one. This tu-
torial aims at presenting research examples and Python codes for advancing
the understanding of variable impedance adaptation in human and robot
motor control. It contributes to the state-of-the-art by providing an on-
line impedance adaptation controller for wearable robots (i.e., exoskeletons)
which can be used in robotic and biomechanical applications.
| Original language | English |
|---|---|
| Journal | Biomimetic Intelligence and Robotics |
| ISSN | 2667-3797 |
| Publication status | Accepted/In press - 2023 |
Keywords
- variable impedance control
- wearable robots
- motor control
- Deformable object manipulation