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Bio-Inspired Interaction Control of Robotic Machines for Motor Therapy InTech
Loredana Zollo; Domenico Formica; Eugenio Guglielmelli.
In this chapter basic criteria for the design and implementation of interaction control of robotic machines for motor therapy have been briefly introduced and two bio-inspired compliance control laws developed by the authors to address requirements coming from this specific application field have been presented. The two control laws are named the coactivation-based compliance control in the joint space and the torque-dependent compliance control in the joint space, respectively. They try to overcome limitations of the traditional interaction control by taking inspiration from biological motor control, with particular attention to the mechanisms of visco-elastic regulation of the human arm. They basically differ for the strategy of stiffness regulation used...
Tipo: 33 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/bio-inspired_interaction_control_of_robotic_machines_for_motor_therapy
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