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RISRobust Adaptive Impedance Control With Application to a Transfemoral Prosthesis and Test Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents, compares, and tests two robust model reference adaptive impedance controllers for a three degrees-of-freedom (3DOF) powered prosthesis/test robot. We first present a model for a combined system that ...
Robust Kalman-Type Filter for Non-Gaussian Noise: Performance Analysis With Unknown Noise Covariances
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: The Kalman filter (KF) is optimal with respect to minimum mean square error (MMSE) if the process noise and measurement noise are Gaussian. However, the KF is suboptimal in the presence of non-Gaussian noise. The maximum ...