Abstract: This paper is focused on the design of interaction control of robotic machines for rehabilitative motor therapy of the upper limb. The control approach tries to address requirements deriving ...

Abstract: Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and ...

Abstract: The introduction of intrinsic compliance in the actuation system of assistive robots improves safety and dynamical adaptability. Furthermore, in the case of wearable robots for gait assistance, ...