Matches in SemOpenAlex for { <https://semopenalex.org/work/W4323076505> ?p ?o ?g. }
Showing items 1 to 86 of
86
with 100 items per page.
- W4323076505 abstract "Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment interaction must be guaranteed, in addition to performing well during task execution. Having a wide range of Z-width, which shows the region of passively renderable impedance by a haptic display, is also important to render a wide range of virtual environments. To address these issues, in this study, subsystem-based adaptive impedance control is designed for having a stable human-robot-environment interaction of 7 degrees of freedom haptic exoskeleton. The presented control decomposes the entire system into subsystems and designs the controller at the subsystem level. The stability of the controller in the presence of contact with the virtual environment and human arm force is proved by employing the virtual stability concept. Additionally, the Z-width of the 7-DoF haptic exoskeleton is drawn using experimental data and improved using varying virtual mass element for the virtual environment. Finally, experimental results are provided to demonstrate the perfect performance of the proposed controller in accomplishing the predefined task." @default.
- W4323076505 created "2023-03-05" @default.
- W4323076505 creator A5014549468 @default.
- W4323076505 creator A5070792821 @default.
- W4323076505 date "2023-03-02" @default.
- W4323076505 modified "2023-10-16" @default.
- W4323076505 title "Nonlinear Subsystem-based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-rich Tasks" @default.
- W4323076505 doi "https://doi.org/10.48550/arxiv.2303.01397" @default.
- W4323076505 hasPublicationYear "2023" @default.
- W4323076505 type Work @default.
- W4323076505 citedByCount "0" @default.
- W4323076505 crossrefType "posted-content" @default.
- W4323076505 hasAuthorship W4323076505A5014549468 @default.
- W4323076505 hasAuthorship W4323076505A5070792821 @default.
- W4323076505 hasConcept C107457646 @default.
- W4323076505 hasConcept C111919701 @default.
- W4323076505 hasConcept C112972136 @default.
- W4323076505 hasConcept C119857082 @default.
- W4323076505 hasConcept C121332964 @default.
- W4323076505 hasConcept C127413603 @default.
- W4323076505 hasConcept C133731056 @default.
- W4323076505 hasConcept C145460709 @default.
- W4323076505 hasConcept C146549078 @default.
- W4323076505 hasConcept C146978453 @default.
- W4323076505 hasConcept C152086174 @default.
- W4323076505 hasConcept C154945302 @default.
- W4323076505 hasConcept C158622935 @default.
- W4323076505 hasConcept C194969405 @default.
- W4323076505 hasConcept C201995342 @default.
- W4323076505 hasConcept C203479927 @default.
- W4323076505 hasConcept C204323151 @default.
- W4323076505 hasConcept C25344961 @default.
- W4323076505 hasConcept C2775924081 @default.
- W4323076505 hasConcept C2777984285 @default.
- W4323076505 hasConcept C2780451532 @default.
- W4323076505 hasConcept C41008148 @default.
- W4323076505 hasConcept C44154836 @default.
- W4323076505 hasConcept C47446073 @default.
- W4323076505 hasConcept C62520636 @default.
- W4323076505 hasConcept C6557445 @default.
- W4323076505 hasConcept C86803240 @default.
- W4323076505 hasConcept C90509273 @default.
- W4323076505 hasConceptScore W4323076505C107457646 @default.
- W4323076505 hasConceptScore W4323076505C111919701 @default.
- W4323076505 hasConceptScore W4323076505C112972136 @default.
- W4323076505 hasConceptScore W4323076505C119857082 @default.
- W4323076505 hasConceptScore W4323076505C121332964 @default.
- W4323076505 hasConceptScore W4323076505C127413603 @default.
- W4323076505 hasConceptScore W4323076505C133731056 @default.
- W4323076505 hasConceptScore W4323076505C145460709 @default.
- W4323076505 hasConceptScore W4323076505C146549078 @default.
- W4323076505 hasConceptScore W4323076505C146978453 @default.
- W4323076505 hasConceptScore W4323076505C152086174 @default.
- W4323076505 hasConceptScore W4323076505C154945302 @default.
- W4323076505 hasConceptScore W4323076505C158622935 @default.
- W4323076505 hasConceptScore W4323076505C194969405 @default.
- W4323076505 hasConceptScore W4323076505C201995342 @default.
- W4323076505 hasConceptScore W4323076505C203479927 @default.
- W4323076505 hasConceptScore W4323076505C204323151 @default.
- W4323076505 hasConceptScore W4323076505C25344961 @default.
- W4323076505 hasConceptScore W4323076505C2775924081 @default.
- W4323076505 hasConceptScore W4323076505C2777984285 @default.
- W4323076505 hasConceptScore W4323076505C2780451532 @default.
- W4323076505 hasConceptScore W4323076505C41008148 @default.
- W4323076505 hasConceptScore W4323076505C44154836 @default.
- W4323076505 hasConceptScore W4323076505C47446073 @default.
- W4323076505 hasConceptScore W4323076505C62520636 @default.
- W4323076505 hasConceptScore W4323076505C6557445 @default.
- W4323076505 hasConceptScore W4323076505C86803240 @default.
- W4323076505 hasConceptScore W4323076505C90509273 @default.
- W4323076505 hasLocation W43230765051 @default.
- W4323076505 hasOpenAccess W4323076505 @default.
- W4323076505 hasPrimaryLocation W43230765051 @default.
- W4323076505 hasRelatedWork W1927695531 @default.
- W4323076505 hasRelatedWork W1976783843 @default.
- W4323076505 hasRelatedWork W1991899812 @default.
- W4323076505 hasRelatedWork W2057237311 @default.
- W4323076505 hasRelatedWork W2129893236 @default.
- W4323076505 hasRelatedWork W2146701564 @default.
- W4323076505 hasRelatedWork W2151324198 @default.
- W4323076505 hasRelatedWork W2368355978 @default.
- W4323076505 hasRelatedWork W2449765 @default.
- W4323076505 hasRelatedWork W4224275642 @default.
- W4323076505 isParatext "false" @default.
- W4323076505 isRetracted "false" @default.
- W4323076505 workType "article" @default.