Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 4 of 4 for “"Joint impedance"”.
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Finger joint impedance control applications to investigate spasticity
… of the human body, a better understanding of how joint impedance control operates in healthy individuals is necessary. In this investigation, a second order rotary torque model was implemented to investigate the impedances at the metacarpophalangeal (MCP) joint of the index finger. The model was …
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Force-controllable ankle foot orthosis (AFO) to assist drop foot gait
… Foot Orthosis (AAFO) is presented where the impedance of the orthotic joint is modulated throughout the walking cycle to treat drop foot gait. To prevent foot slap, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… and high-level controllers to enable low-impedance balancing and walking on compliant and uneven terrain. For low-level control, we present a cascaded joint impedance controller for series elastic humanoids with parallel actuation. A distributed controller architecture is implemented using …
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Characterizing Mental Workload in Physical Human-Robot Interaction Using Eye-Tracking Measures
… difficulty was manipulated by changing the joint impedance on one of the robot arms (for the dual-armed cobot). The first study demonstrated that when individuals were learning to interact with a dual-armed cobot to perform an upper-limb co-manipulation task simulated in a virtual reality …