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RISTorque-Dependent Compliance Control in the Joint Space for Robot-Mediated Motor Therapy
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
Coupling of ASTEC V2.1 and RASCAL 4.3 Codes to Evaluate the Source Term and the Radiological Consequences of a Loss-of-Cooling Accident at a Spent Fuel Pool
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with a general methodology to evaluate the Source Term (ST) and the Radiological Consequences (RC) of a hypothetical Severe Accident (SA) at a Fukushima-like Spent Fuel Pool (SFP) by coupling ASTEC 2.1 and ...
Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
A Novel Compact Torsional Spring for Series Elastic Actuators for Assistive Wearable Robots
Publisher: The American Society of Mechanical Engineers (ASME)
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, ...