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.
Results
Showing 1 to 3 of 3 for “"stiffness detection."”.
-
Adaptive control for one-DOF finger rehabilitation robot
… to adapt the variations in the load, as handgrip stiffness can be varied from patient to patient and PID controller is needed to tune for each stiffness. The performance of the robot will be affected and the steady state error occurred when the unknown and inaccessible load torque is imposed. …
-
SARK: a type-insensitive Runge-Kutta code
… from ERK to BRK is performed by an existing stiffness detection scheme whereas switching from BRK to ERK requires a new numerical method to be devised. The new methods, called extended BRK (EBRK) methods, are based on the BRK methods but are chosen so as to possess stability properties akin …
-
Grasped Object Detection for Adaptive Control of a Prosthetic Hand
… modulates the gains based on the detected stiffness of the grasped object. Three main control strategies will be compared: PID force control, sliding mode position and hybrid sliding mode force-position controllers. For each control option, an adaptive version will also be tested via …