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Force Control of Musculoskeletal Manipulator Driven By Spiral Motors
| Content Provider | Semantic Scholar |
|---|---|
| Author | Fujimoto, Yasutaka |
| Copyright Year | 2013 |
| Abstract | This paper presents force control of musculoskeletal manipulator driven by spiral motors. The kinematic and dynamic properties are shown to address the presence of ennvironmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into independent muscle control, end effector step force command, and muscular viscoelasticity control. The results show advantages of biarticular actuation compared to monoarticular-only actuation in the feasibility of magnetic levitation (gap) control alongside force control. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://hrcak.srce.hr/file/147639 |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Actuation Dosing Unit Addresses (publication format) Apache Axis Axis vertebra CDISC ADAS-Cog - Commands Summary Score Emoticon Muscle Musculoskeletal Diseases Optic axis of a crystal Overshoot (signal) Robot end effector Robotics Spiral model Workspace monoarticular |
| Content Type | Text |
| Resource Type | Article |