Abstract:
In the field of comanipulation (i.e. a man and a robot sharing the same task), force amplification is an interesting function that can be achieved by using two force sens...Show MoreMetadata
Abstract:
In the field of comanipulation (i.e. a man and a robot sharing the same task), force amplification is an interesting function that can be achieved by using two force sensors. This technique is known in the literature but little attention has been paid so far to stability/passivity properties. We will explain how to deal with passivity based stability criteria, and point out performance limitations of such a control in case of noncollocated and bandwidth limited force sensors. Theoretical, as well as experimental results will be presented.
Date of Conference: 18-22 October 2010
Date Added to IEEE Xplore: 03 December 2010
ISBN Information: