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: 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 ...