Abstract: A bilateral nonlinear adaptive impedance controller is proposed for the control of multidegreesoffreedom (DOF) teleoperation systems. In this controller, instead of conventional position and/or force tracking, the impedance ...

Abstract: In this paper, the optimal performance of a planar humanlike musculoskeletal arm is investigated during reaching movements employing an optimal control policy. The initial and final states (position and velocity) are the ...

Abstract: Spinal cord injuries and strokes can lead to severe mobility impairments. Assistive devices, such as exoskeletons, can help individuals regain mobility and the strength to move their limbs. Developing these devices to be ...

Abstract: A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using ...

Abstract: In this paper, an approach to physical collaboration between a patient and a therapist is proposed using a bilateral impedance control strategy developed for delayed tele-robotic systems. The patient performs a tele-rehabilitation ...