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Transferring Human Impedance Regulation Skills to Robots

Transferring Human Impedance Regulation Skills to Robots by Arash Ajoudani
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This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

Springer International Publishing; November 2015
180 pages; ISBN 9783319242057
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Title: Transferring Human Impedance Regulation Skills to Robots
Author: Arash Ajoudani
 
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