Searched for: subject%3A%22force%255C+control%22
(1 - 14 of 14)
document
Martin Rodriguez, Ruben (author)
The provision of somatosensory information may play a fundamental role in the recovery of stroke patients. Particularly, tactile information is known to influence motor control by contributing to the perception of the weight, friction, and slip condition of objects. Despite this, the inclusion of tactile information through haptic rendering in...
master thesis 2023
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Puthukattil, Rahul (author)
This thesis investigates the application of force control techniques to enhance industrial wire bonding processes. It entails the design of a simulation model for the Z-axis interaction between bondhead and environment, followed by the implementation of a Parallel Force Control architecture in Simulink. The study evaluates different force and...
master thesis 2023
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Rampeltshammer, Wolfgang (author), Keemink, Arvid (author), Sytsma, Menno (author), van Asseldonk, Edwin (author), van der Kooij, H. (author)
Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers, both in the torque response as well as interaction behavior with its environment. To differentiate state...
journal article 2023
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Boonstra, Dirk-Jan (author)
Tactile sensing provides crucial information about the stability of a grasped object by a robotic gripper. Tactile feedback can be used to predict slip, allowing for timely response to perturbations and to avoid dropping objects. Tactile sensors, included in robotic grippers, measure vibrations, strain or shearing forces which are produced by...
master thesis 2022
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Fang, Juan (author), Haldimann, Michael (author), Marchal Crespo, L. (author), Hunt, Kenneth J. (author)
In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlled assistance or resistance is desirable for effective walking relearning and muscle training. To achieve...
journal article 2021
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Douwes, Daniël (author)
This thesis presents a new control philosophy based on Direct Force Control (DFC) for over-actuated aircraft. It is predicated on simultaneously controlling all six Degrees of Freedom (DoF). The Innovative Control Effectors (ICE) aircraft with its thirteen-part control effector suite is the subject of study. Active-Set (A-S) based Incremental...
master thesis 2019
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Huang, Y. (author)
In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their...
doctoral thesis 2019
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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)
High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...
journal article 2019
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Feliu-Talegon, Daniel (author), Feliu-Batlle, Vicente (author), Tejado, Inés (author), Vinagre, Blas M. (author), Hassan HosseinNia, S. (author)
The control of robots that interact with the environment is an open area of research. Two applications that benefit from this study are: the control of the force exerted by a robot on an object, which allows the robot to perform complex tasks like assembly operations, and the control of collisions, which allows the robot safely collaborate...
journal article 2019
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van der Weijde, J.O. (author), Vallery, H. (author), Babuska, R. (author)
The twisted and coiled polymer muscle (TCPM) has two major benefits: low weight and low cost. Therefore, this new type of actuator is increasingly used in robotic applications where these benefits are relevant. Closed-loop control of these muscles, however, requires additional sensors that add weight and cost, negating the muscles' intrinsic...
journal article 2019
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Huinnk, L.H.B. (author), Bouwsema, H. (author), Plettenburg, D.H. (author), van der Sluis, C.K. (author), Bongers, R.M. (author)
Background: Little is known about action-perception learning processes underlying prosthetic skills in body-powered prosthesis users. Body-powered prostheses are controlled through a harness connected by a cable that might provide for limited proprioceptive feedback. This study aims to test transfer of training basic tasks to functional tasks...
journal article 2016
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Westerveld, A.J. (author), Schouten, A.C. (author), Veltink, P.H. (author), Van der Kooij, H. (author)
Background Stroke survivors often have difficulties in manipulating objects with their affected hand. Thumb control plays an important role in object manipulation. Surface functional electrical stimulation (FES) can assist movement. We aim to control the 2D thumb force by predicting the sum of individual muscle forces, described by a sigmoidal...
journal article 2013
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De Boer, T. (author)
Human walking is remarkably robust, versatile and energy-efficient: humans have the ability to handle large unexpected disturbances, perform a wide variety of gaits and consume little energy. A bipedal walking robot that performs well on all of these aspects has not yet been developed. Some robots are versatile, others are energy-efficient, and...
doctoral thesis 2012
document
Kuiper, R.J. (author)
Experimental research with human subjects on the effect of offering different types of haptic feedback to improve the human performance during a deep-sea mining task using a suspended grab.
master thesis 2012
Searched for: subject%3A%22force%255C+control%22
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