Variable admittance time-delay control of an upper limb rehabilitation robot based on human stiffness estimation

•A variable admittance time-delay cooperative controller is developed for upper limb rehabilitation training.•An iterative optimization algorithm is proposed to estimate human arm stiffness and adjust interaction compliance.•The training trajectory is determined based on minimum jerk cost principle...

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Vydané v:	Mechatronics (Oxford) Ročník 90; s. 102935
Hlavní autori:	Wu, Qingcong, Chen, Ying
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Elsevier Ltd 01.04.2023
Predmet:	Human stiffness estimation Interaction compliance Time-delay control Upper limb rehabilitation robot Variable admittance Upper limb rehabilitation robot Variable admittance Interaction compliance Time-delay control Human stiffness estimation
ISSN:	0957-4158, 1873-4006
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