Relevant bibliographies by topics / Joint torque control

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  2. Dissertations / Theses
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Academic literature on the topic 'Joint torque control'

Author: Grafiati
Published: 3 June 2025
Last updated: 6 July 2025

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Journal articles on the topic "Joint torque control"

1

Bastian, A. J., T. A. Martin, J. G. Keating, and W. T. Thach. "Cerebellar ataxia: abnormal control of interaction torques across multiple joints." Journal of Neurophysiology 76, no. 1 (1996): 492–509. http://dx.doi.org/10.1152/jn.1996.76.1.492.

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1. We studied seven subjects with cerebellar lesions and seven control subjects as they made reaching movements in the sagittal plane to a target directly in front of them. Reaches were made under three different conditions: 1) "slow-accurate," 2) "fast-accurate," and 3) "fast as possible." All subjects were videotaped moving in a sagittal plane with markers on the index finger, wrist, elbow, and shoulder. Marker positions were digitized and then used to calculate joint angles. For each of the shoulder, elbow and wrist joints, inverse dynamics equations based on a three-segment limb model were used to estimate the net torque (sum of components) and each of the component torques. The component torques consisted of the torque due to gravity, the dynamic interaction torques induced passively by the movement of the adjacent joint, and the torque produced by the muscles and passive tissue elements (sometimes called "residual" torque). 2. A kinematic analysis of the movement trajectory and the change in joint angles showed that the reaches of subjects with cerebellar lesions were abnormal compared with reaches of control subjects. In both the slow-accurate and fast-accurate conditions the cerebellar subjects made abnormally curved wrist paths; the curvature was greater in the slow-accurate condition. During the slow-accurate condition, cerebellar subjects showed target undershoot and tended to move one joint at a time (decomposition). During the fast-accurate reaches, the cerebellar subjects showed target overshoot. Additionally, in the fast-accurate condition, cerebellar subjects moved the joints at abnormal rates relative to one another, but the movements were less decomposed. Only three subjects were tested in the fast as possible condition; this condition was analyzed only to determine maximal reaching speeds of subjects with cerebellar lesions. Cerebellar subjects moved more slowly than controls in all three conditions. 3. A kinetic analysis of torques generated at each joint during the slow-accurate reaches and the fast-accurate reaches revealed that subjects with cerebellar lesions produced very different torque profiles compared with control subjects. In the slow-accurate condition, the cerebellar subjects produced abnormal elbow muscle torques that prevented the normal elbow extension early in the reach. In the fast-accurate condition, the cerebellar subjects produced inappropriate levels of shoulder muscle torque and also produced elbow muscle torques that did not very appropriately with the dynamic interaction torques that occurred at the elbow. Lack of appropriate muscle torque resulted in excessive contributions of the dynamic interaction torque during the fast-accurate reaches. 4. The inability to produce muscle torques that predict, accommodate, and compensate for the dynamic interaction torques appears to be an important cause of the classic kinematic deficits shown by cerebellar subjects during attempted reaching. These kinematic deficits include incoordination of the shoulder and the elbow joints, a curved trajectory, and overshoot. In the fast-accurate condition, cerebellar subjects often made inappropriate muscle torques relative to the dynamic interaction torques. Because of this, interaction torques often determined the pattern of incoordination of the elbow and shoulder that produced the curved trajectory and target overshoot. In the slow-accurate condition, we reason that the cerebellar subjects may use a decomposition strategy so as to simplify the movement and not have to control both joints simultaneously. From these results, we suggest that a major role of the cerebellum is in generating muscle torques at a joint that will predict the interaction torques being generated by other moving joints and compensate for them as they occur.
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Hua, Qiang, Weigang Zhou, Shiqiang Zhu, et al. "Design of a High-torque Robot Joint and Its Control System." Journal of Physics: Conference Series 2281, no. 1 (2022): 012007. http://dx.doi.org/10.1088/1742-6596/2281/1/012007.

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Abstract The robot joint is one of the key components of robots. With the wide application of robot joints, the demand for joint torque is becoming higher and higher. However, at present, most high-torque robot joints are generally large in weight and size, which creates problems for some applications. For this purpose, a high-torque and high-torque-density robot joint is proposed. To improve the joints’ torque density, the lightweight motor and reducer with a large reduction ratio are selected, and the mechanical structure design is based on weight reduction, miniaturization, and heat dissipation. The maximum torque of the proposed robot joint can reach up to 182Nm, and its mass is only 1.8kg. Besides, an embedded control system is designed to control the robot joint. Many experiments were conducted to measure the robot joint’s characteristics, such as torque, speed, and control features. And the designed robot joints are successfully applied to a biped robot. The results verify the performance of the designed robot joint and its control system.
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Xiong, Gen-Liang, Hai-Chu Chen, Jing-Xin Shi, and Fa-Yun Liang. "Joint torque control of flexible joint robots based on sliding mode technique." International Journal of Advanced Robotic Systems 16, no. 3 (2019): 172988141984671. http://dx.doi.org/10.1177/1729881419846712.

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For robots with flexible joints, the joint torque dynamics makes it difficult to control. An effective solution is to carry out a joint torque controller with fast enough dynamic response. This article is dedicated to design such a torque controller based on sliding mode technique. Three joint torque control approaches are proposed: (1) The proportional-derivative (PD)-type controller has some degree of robustness by properly selecting the control gains. (2) The direct sliding mode control approach which fully utilizes the physical properties of electric motors. (3) The sliding mode estimator approach was proposed to compensate the parameter uncertainties and the external disturbances of the joint torque system. These three joint torque controllers are tested and verified by the simulation studies with different reference torque trajectories and under different joint stiffness.
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4

Jhuang, Chi-Shiun, Chia-Wei Juang, Cheng-Hsin Shih, and Dar-Zen Chen. "On the Internal Counter-Torque between Springs in Serially Connected Statically Balanced Manipulators." Machines 11, no. 2 (2023): 200. http://dx.doi.org/10.3390/machines11020200.

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Serially connected statically balanced manipulators with springs have been used in many applications. However, a portion of the torques caused by springs countering each other lead to an imbalance in gravitational torques and, therefore, are deemed as waste torques for springs to achieve static balance. In this paper, the torque contribution of a typical spring is classified as gravity-balancing torque and counter-torque based on the accumulated joint angle of the gravitational torque. Then, the internal counter-torque is defined as the sum of the magnitude of the terms of these counter-torques at each joint. Through the adjustment of spring attachment parameters, the internal counter-torque can be minimized with preferable spring attachment parameters while maintaining a static-balancing condition. A typical four-link manipulator with a preselected spring configuration is shown as an illustrative example. The results show that there are 28% and 50% reductions in the internal counter-torque at joints 2 and 3, respectively, through the adjustment of spring attachment parameters. Hence, the waste torques in statically balanced serially connected manipulators are reduced to the lowest quantity.
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5

Gottlieb, Gerald L., Qilai Song, Gil L. Almeida, Di-An Hong, and Daniel Corcos. "Directional Control of Planar Human Arm Movement." Journal of Neurophysiology 78, no. 6 (1997): 2985–98. http://dx.doi.org/10.1152/jn.1997.78.6.2985.

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Gottlieb, Gerald L., Qilai Song, Gil L. Almeida, Di-an Hong, and Daniel Corcos. Directional control of planar human arm movement. J. Neurophysiol. 78: 2985–2998, 1997. We examined the patterns of joint kinematics and torques in two kinds of sagittal plane reaching movements. One consisted of movements from a fixed initial position with the arm partially outstretched, to different targets, equidistant from the initial position and located according to the hours of a clock. The other series added movements from different initial positions and directions and >40–80 cm distances. Dynamic muscle torque was calculated by inverse dynamic equations with the gravitational components removed. In making movements in almost every direction, the dynamic components of the muscle torques at both the elbow and shoulder were related almost linearly to each other. Both were similarly shaped, biphasic, almost synchronous and symmetrical pulses. These findings are consistent with our previously reported observations, which we termed a linear synergy. The relative scaling of the two joint torques changes continuously and regularly with movement direction. This was confirmed by calculating a vector defined by the dynamic components of the shoulder and elbow torques. The vector rotates smoothly about an ellipse in intrinsic, joint torque space as the direction of hand motion rotates about a circle in extrinsic Cartesian space. This confirms a second implication of linear synergy that the scaling constant between the linearly related joint torques is directionally dependent. Multiple linear regression showed that the torque at each joint scales as a simple linear function of the angular displacement at both joints, in spite of the complex nonlinear dynamics of multijoint movement. The coefficients of this function are independent of the initial arm position and movement distance and are the same for all subjects. This is an unanticipated finding. We discuss these observations in terms of the hypothesis that voluntary, multiple degrees of freedom, rapid reaching movements may use rule-based, feed-forward control of dynamic joint torque. Rule-based control of joint torque with separate dynamic and static controllers is an alternative to models such as those based on the equilibrium point hypotheses that rely on a positionally based controller to produce both dynamic and static torque components. It is also an alternative to feed-forward models that directly solve the problems of inverse dynamics. Our experimental findings are not necessarily incompatible with any of the alternative models, but they describe new, additional findings for which we need to account. The rules are chosen by the nervous system according to features of the kinematic task to couple muscle contraction at the shoulder and elbow in a linear synergy. Speed and load control preserves the relative magnitudes of the dynamic torques while directional control is accomplished by modulating them in a differential manner. This control system operates in parallel with a positional control system that solves the problems of postural stability.
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Sun, Hwadong, Seunghwan Kim, Daehie Hong, et al. "The development of robot hand with joint torque sensor based on torque control." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 462–67. http://dx.doi.org/10.1299/jsmeicam.2010.5.462.

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Sharkawy, Abdel-Nasser. "Impact of Inertial and External Forces on Joint Dynamics of Robotic Manipulator: Experimental Insights." Control Systems and Optimization Letters 3, no. 1 (2025): 1–7. https://doi.org/10.59247/csol.v3i1.163.

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In this paper, the effect of the inertial and external forces applied on the links of the robotic manipulator is studied and investigated on the manipulator joints’ parameters through experimental analysis. For this investigation and experiments, KUKA LWR manipulator is used and structured as a 2-DOF manipulator. Experimental work is carried out by commanding a sinusoidal joint motion to the two joints of the manipulator. Different scenarios are studied such as motion with free of collisions, motion with collision on the link between the two joints of the manipulator, motion with collision on the end-effector, and motions with different constant joint speeds. The diagrams of the position, velocity, acceleration, and torque of the manipulator joints are obtained and recorded from KUKA robot controller and then investigated and evaluated. The results reveal that during a motion free of collision, small spikes are found on the signals of the joint position, velocity, acceleration, and torques. These spikes resulted from the inertial forces applied on the joint. During a motion with collision, the signals of joint position, velocity, acceleration, and torque are highly affected due to the collision, inertial forces, and friction. During a collision on the end-effector, the torques of both joints are highly affected. During a collision on a link between the two joints, the torque of the first joint is highly affected, and the torque of the second joint is slightly affected. When the speed of the joint is increased, the torque signal is highly affected. These findings provide insights into the dynamic behavior of robotic manipulators under external forces, with implications for improving control algorithms and collision detection systems.
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Yahya, Samer, Mahmoud Moghavvemi, and Haider Almurib. "Joint torque reduction of a three dimensional redundant planar manipulator." Sensors (Switzerland) 12, no. 6 (2012): 6869–92. https://doi.org/10.3390/s120606869.

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In the realm of robot manipulators, reducing joint torque has emerged as a pivotal focus. Recent years have witnessed a surge in research dedicated to streamlining torque optimization computation, aiming for precise joint torque determination to ensure safe operation without burdening the actuators. This paper introduces an innovative mechanical design for a three-dimensional planar redundant manipulator, boasting a distinct advantage: a reduction in the necessary number of motors to control joint angles. The outcome? A lighter manipulator with enhanced efficiency. Numerous strategies have targeted manipulator weight reduction, exploring avenues like lightweight joint designs or situating actuators at the manipulator base while utilizing tendons for power transmission to these joints. The crux of this paper's design lies in requiring only three motors to control any n degrees of freedom within a three-dimensional planar redundant manipulator, as opposed to the usual n motors. This approach significantly slashes both the manipulator's weight and the number of motors required for control. Within these pages, we present a comprehensive torque analysis of all joints within the proposed manipulator (employing three motors) and a conventional three-dimensional planar manipulator (employing one motor per degree of freedom). This analysis serves to underscore the effectiveness of our proposed design in reducing manipulator weight and minimizing driving joint torques.
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Bastian, A. J., K. M. Zackowski, and W. T. Thach. "Cerebellar Ataxia: Torque Deficiency or Torque Mismatch Between Joints?" Journal of Neurophysiology 83, no. 5 (2000): 3019–30. http://dx.doi.org/10.1152/jn.2000.83.5.3019.

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Prior work has shown that cerebellar subjects have difficulty adjusting for interaction torques that occur during multi-jointed movements. The purpose of this study was to determine whether this deficit is due to a general inability to generate sufficient levels of phasic torque inability or due to an inability to generate muscle torques that predict and compensate for interaction torques. A second purpose was to determine whether reducing the number of moving joints by external mechanical fixation could improve cerebellar subjects' targeted limb movements. We studied control and cerebellar subjects making elbow flexion movements to touch a target under two conditions: 1) a shoulder free condition, which required only elbow flexion, although the shoulder joint was unconstrained and 2) a shoulder fixed condition, where the shoulder joint was mechanically stabilized so it could not move. We measured joint positions of the arm in the sagittal plane and electromyograms (EMGs) of shoulder and elbow muscles. Elbow and shoulder torques were estimated using inverse dynamics equations. In the shoulder free condition, cerebellar subjects made greater endpoint errors (primarily overshoots) than did controls. Cerebellar subjects' overshoot errors were largely due to unwanted flexion at the shoulder. The excessive shoulder flexion resulted from a torque mismatch, where larger shoulder muscle torques were produced at higher rates than would be appropriate for a given elbow movement. In the shoulder fixed condition, endpoint errors of cerebellar subjects and controls were comparable. The improved accuracy of cerebellar subjects was accompanied by reduced shoulder flexor muscle activity. Most of the correct cerebellar trials in the shoulder fixed condition were movements made using only muscles that flex the elbow. Our findings suggest that cerebellar subjects' poor shoulder control is due to an inability to generate muscle torques that predict and compensate for interaction torques, and not due to a general inability to generate sufficient levels of phasic torque. In addition, reducing the number of muscles to be controlled improved cerebellar ataxia.
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Nozaki, Daichi, Kimitaka Nakazawa, and Masami Akai. "Uncertainty of knee joint muscle activity during knee joint torque exertion: the significance of controlling adjacent joint torque." Journal of Applied Physiology 99, no. 3 (2005): 1093–103. http://dx.doi.org/10.1152/japplphysiol.00365.2005.

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In the single-joint torque exertion task, which has been widely used to control muscle activity, only the relevant joint torque is specified. However, the neglect of the neighboring joint could make the procedure unreliable, considering our previous result that even monoarticular muscle activity level is indefinite without specifying the adjacent joint torque. Here we examined the amount of hip joint torque generated with knee joint torque and its influence on the activity of the knee joint muscles. Twelve healthy subjects were requested to exert various levels of isometric knee joint torque. The knee and hip joint torques were obtained by using a custom-made device. Because no information about hip joint torque was provided to the subjects, the hip joint torque measured here was a secondary one associated with the task. The amount of hip joint torque varied among subjects, indicating that they adopted various strategies to achieve the task. In some subjects, there was a considerable internal variability in the hip joint torque. Such variability was not negligible, because the knee joint muscle activity level with respect to the knee joint torque, as quantified by surface electromyography (EMG), changed significantly when the subjects were requested to change the strategy. This change occurred in a very systematic manner: in the case of the knee extension, as the hip flexion torque was larger, the activity of mono- and biarticular knee extensors decreased and increased, respectively. These results indicate that the conventional single knee joint torque exertion has the drawback that the intersubject and/or intertrial variability is inevitable in the relative contribution among mono- and biarticular muscles because of the uncertainty of the hip joint torque. We discuss that the viewpoint that both joint torques need to be considered will bring insights into various controversial problems such as the shape of the EMG-force relationship, neural factors that help determine the effect of muscle strength training, and so on.
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Dissertations / Theses on the topic "Joint torque control"

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Lin, Tian. "Adaptive and robust control of flexible joint robots with joint torque feedback." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0011/NQ35226.pdf.

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Sankaran, Jayavel. "Real-time computed torque control of flexible-joint robots." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ28868.pdf.

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Behan, Fearghal. "Neuromechanics of explosive performance for movement control and joint stabilisation." Thesis, Loughborough University, 2017. https://dspace.lboro.ac.uk/2134/28123.

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The broad aim of this thesis was to progress understanding of the neuromechanics of joint stability and injury mechanisms by investigating the interactions between neuromuscular function and balance perturbations as well as the influence of sex and fatigue on these variables. Knee extensor (KE) and plantar flexor (PF) isometric strength parameters (maximum voluntary torque (MVT), explosive voluntary torque (EVT)) were related in young healthy adults. EVT of KE and PF were correlated at 4/5 time points during the rising torque-time curve for all absolute (r = 0.488-0.755) and relative (to body mass (BM) (r = 0.517-0.669) and MVT (r = 0.353-0.480)) expressions of EVT. These results suggest that KE and PF function is related for both maximum and explosive torque. Males were stronger for KE (+89%) and PF (+55%) than females. Males also displayed greater EVT at all time points in KE (+57-109%) and at 50-150 ms in PF (+33-52%). When MVT and EVT were normalised to BM, males continued to be stronger at all time points in KE (+23-60%) and from 100-150 ms (18-20%) in PF. No sex differences were found when EVT was normalised to MVT. Furthermore, sex differences were discovered in muscle morphology. Females had a smaller knee flexor (KF):KE size ratio, a proportionately small sartorius (SA) and gracilis (GR) and a proportionately larger vastus lateralis (VL), potentially predisposing females to greater risk of ACL injury. Females had a larger biceps femoris long head (BFlh) as a proportion of the KF than males, which may contribute to the higher risk of hamstring strain injury (HSI) in males. Regarding explosive performance and perturbation response, explosive PF torque had a weak to moderate correlation with COM displacement (COMD) from 400-500 ms (r = -0.346 to -0.508) and COM velocity (COMV) from 300-500 ms (r = -0.349 to -0.416), with weaker correlations between explosive KE torque and COMV at 400 ms (r = -0.381 to -0.411) but not with COMD. These findings suggest that greater explosive torque results in better control of the COM in response to unexpected perturbations. The effects of football simulated fatigue on these factors resulted in reduced maximal KF and KE torque. However, football simulated fatigue was not found to reduce EVT of either muscle group, or explosive H/Q ratio. Football simulated fatigue resulted in impaired balance response to unexpected perturbation in the posterior but not the anterior direction.
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Lin, Elizabeth C. "Strategies for using electromyographic signals to control ankle torque in an active joint brace for alleviating drop-foot gait." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36292.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.<br>Includes bibliographical references.<br>This thesis describes the efforts to develop control strategies that use EMG signals from the anterior tibialis muscle to control ankle torque in an active ankle-foot orthosis. This would ultimately help rehabilitate persons affected by drop-foot gait, a condition which results in the loss of ability to dorsi-flex the ankle. This causes dropping of the toe during the swing phase of walking and "slapping down" of the foot after heel strike. Alleviation of these gait anomalies would improve mobility efficiency, safety, and cosmesis. Several types of orthotic devices fitted with springs and/or dampers have been used to control torque around the ankle and consequently facilitate the natural pattern of movement during the gait cycle. However, recent studies on powered upper-extremity orthoses controlled by EMGsignals from the users' impaired muscles have produced an unexpected and potentially exciting result. The use of EMG-controlled orthoses seems to improve the user's ability to control the compromised muscles and subsequently rebuild the connection between the brain and the output of those muscles. This could be a crucial step in helping stroke patients make a full recovery.<br>(cont.) Extending this control scheme to a powered ankle orthosis requires understanding the relationship between ankle torque and EMG signals measured on the muscles likely to serve as control signal sites. Studies have shown that the muscle whose deterioration is most responsible for drop foot gait is the tibialis anterior. Thus, this thesis focuses on the relationship between EMG from the tibialis anterior and ankle torque. Experiments show that there is a clear pattern of EMG peak periods and silent periods throughout the gait cycle. However the magnitudes of these peaks are very similar and thus require a revision in the EMG control strategy used in the upper extremity orthoses which output a position of the brace via the EMG profile of the muscles around it. The control strategies devised involve using other inputs in addition to EMG, including foot switches and position sensors, to supplement the EMG control scheme in a new version of an active ankle foot orthosis.<br>by Elizabeth C. Lin.<br>S.B.
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Gilbert, Gregory S. Jr. "Scaling a Prismatic Revolute Joint (Pr) Manipulator Using Similitude and Buckingham Pi Techniques." Thesis, Virginia Tech, 1998. http://hdl.handle.net/10919/36599.

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This thesis presents scaling methods for sizing a prototype micro prismatic revolute (PR) manipulator actuated by permanent magnet (PM) direct current (d.c.) gearmotors. Dimensional analysis was the principle tool used in this investigation, and addressed the problems of scaling a trajectory planner, control law, and gearmotors that exhibit internal nonlinear friction. Similitude methods were used to develop a scaleable two degree-of-freedom trajectory planner from a third order polynomial. Scaling laws were developed from Buckingham's Pi theorem to facilitate the selection process of gearmotors. Nondimensional, nonlinear, differential equations were developed to describe viscous, Coulomb and static friction in comparative PM d.c. motors. From the insights gained through dimensional analysis, a scaleable controller based on the computed torque method was developed and implemented with a cubic trajectory planner. Model and prototype PR manipulator systems were simulated using a hybrid Matlab/Simulink simulation scheme. Experimental systems were constructed with dissimilar model and prototype motors. Control was provided by an AT class PC equipped with 12-bit A/D, D/A cards operating at a sample rate of 100 Hz. The control algorithm was written in Borland 3.1 C for DOS. Results from the experimental testing showed excellent agreement between the test and simulated data and verified the viability of the scaling laws. The techniques presented in this thesis are expected to be applicable to any application that involves scaling PM d.c. micro gearmotors that have significant internal friction terms. These simple, practical tools should be especially beneficial to designers of micro robotic systems.<br>Master of Science
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Thompson, Bruce R. "The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control." 1990. http://hdl.handle.net/1721.1/7036.

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This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: first, to perform research on joint torque control schemes, and second, to determine the important dynamic characteristics of the Harmonic Drive. The PHD, is a planar, three degree of freedom arm with torque sensors integral to each joint. Preliminary testing has shown that a simple linear spring model of the Harmonic Drive's flexibility is suitable in many situations.
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Mihaltchev, Pavel. "Control of posture and stability of the double-joint (Shoulder/Elbow) arm." Thèse, 2003. http://hdl.handle.net/1866/14480.

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8

(8803472), Ruiwen Wei. "Analysis of Computed Torque Control Applied with Command Shaping to Minimize Residual Vibration in a Flexible-Joint Robot." Thesis, 2020.

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During fast point-to-point motion, the inherent joint flexibility could be detrimental in terms of residual vibration. Aiming to minimize the vibration, the command shaping method has been developed so as to remove critical energy from the input profile at resonant frequencies. Since this method requires information of a physical model in order to find the target frequencies, the quality of the shaped command profile relies on the accuracy of the model parameter estimation. Therefore, in this work, a system identification method using Instrumental Variables is applied from the literature. Compared with the classic Ordinary Least Square method, the IV approach has successfully improved the estimation of parameters, based on simulation results. The accuracy of parameter estimation influences the command profile, as does the feedback controller. In this work, starting from a mathematical derivation with a mismatch model due to a feedback controller called Computed Torque Control, insight for the closed-loop system is given with regard to the interaction between control gains and the actual resonant frequencies. It is found that the control gain is able to modify the actual resonant frequency curve, and push it into or out of the shaping bounds which are generated from the command shaping method. Further analysis based on the simulation results shows that the overlap area between the shaping bounds and the actual frequencies affects the level of residual vibration. In light of this fact, an optimal control gain exists and is found when the estimation error is in a certain range. At the end, recommendations for choosing the control gains are provided.
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Books on the topic "Joint torque control"

1

Sankaran, Jayavel. Real-time computed torque control of flexible-joint robots. National Library of Canada = Bibliothèque nationale du Canada, 1999.

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2

Lin, Tian. Motion control of IRIS robots with joint torque measurement. National Library of Canada, 1993.

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3

Jer-Nan, Juang, United States. National Aeronautics and Space Administration., and Langley Research Center, eds. Virtual passive controller for robot systems using joint torque sensors. National Aeronautics and Space Administration, Langley Research Center, 1997.

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4

Lee, Soo Han. Active vibration control of a large flexible manipulator by inertial force and joint torque. Georgia Institute of Technology, 1988.

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Jer-Nan, Juang, and Langley Research Center, eds. Experimental robot position sensor fault tolerance using accelerometers and joint torque sensors. National Aeronautics and Space Administration, Langley Research Center, 1997.

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United States. National Aeronautics and Space Administration., ed. Active vibration control of a large flexible manipulator by intertial force and joint torque. National Aeronautics and Space Administration, 1989.

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Rabadi, Adi. DC motor-harmonic drive torque control with application to robot joints. National Library of Canada, 1993.

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Lin, Tian. Adaptive and robust control of flexible joint robots with joint torque feedback. 1998.

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Automatic Temperature Control Manual - 1991-1998 Domestic Vehicles. Mitchell Repair Information, 2001.

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Ojeda, Almerindo E., ed. The Trauma of Psychological Torture. Praeger, 2008. http://dx.doi.org/10.5040/9798216027362.

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It is, in some circles, called No-Touch Torture. Yet it brings pain and damage that can last a lifetime. Psychological torture techniques - which have a history of use by U.S. forces globally trailing far into the past beyond Guantanamo and Abu Ghraib - include a variety of methods from mock executions, severe humiliation, and mind-altering drugs, to forced self-induced pain, sensory disorientation including loud music and light control, and exploitation of personal or cultural phobias. It is no accident, for example, that Private Lynndie England was seen in Abu Ghraib pictures, which shocked the world, with Arab prisoners forced naked into a pile or led like dogs by leash. Arabs have strong spiritual beliefs about the humiliation of public nudity, and also have a strong cultural fear of dogs. These techniques are neither surprising nor particular to England if one has fair knowledge of the U.S. history of sanctioned psychological torture techniques, say the experts behind this book. Having reached a joint crescendo of intolerance and horror, scholars from across the nation met in 2006 for a conference on psychological torture and what can be done to stop the practice. They agree with Alberto Mora, the U.S. Navy's general counsel, who fought to stop the Pentagon-sanctioned psychological torture at Guantanamo. Cruelty disfigures our national character. Where cruelty exists, law does not, Mora said. This book is the joint effort of those scholars, from the University of California Center for the Study of Human Rights in the Americas, to Harvard Medical School, to paint a clear picture of psychological torture, its longterm affects, and spur action to stop the practice. The distinctly American form of psychological torture has four characteristics that make it attractive to the CIA and other supporters, say the authors. It is elusive - lacks the clear signs of physical abuse so eludes detection and complicates investigation, prosecution, or attempts at prohibition. It is shrouded - in scientific patina that makes it appeal to policy makers and avoids the obvious physical brutality unpalatable to the general public. It is adaptable - as shown by searing innovations by the CIA across 40 years. And it is destructive - can cause psychosis and other psychological disorders or, in more severe cases, death. While, in public, U.S. officials spotlight and support legislation that has banned physical torture, far more clandestine political, military, and CIA activities are refining and increasing the use of psychological torture. This book includes a brief history of sanctioned psychological experiments and actions to torture, as well as CIA research outsourced to leading U.S. universities that produced what the authors call key findings that led to the first real revolution in the cruel science of pain in centuries. Historical information here includes a summary of a decade of mind-control research by the CIA that in 1963 resulted in the KUBARK Counterintelligence Interrogation manual. This volume represents a striking collaboration of distinguished psychologists, psychiatrists, neurobiologists, lawyers, historians, and a semanticist. The book closes with case studies of the psychological torture of Mohammed al-Qahtani, the alleged 20th hijacker in the 9/11 attacks, and of Salim Hamdan, the alleged driver of Osama bin Laden. This work will be absorbing to any reader interested in human rights, covert politics now and across history, military science, psychology, or psychiatry.
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Book chapters on the topic "Joint torque control"

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Zhou, Xuefeng, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, and Xiaojing Lv. "RNN for Motion-Force Control of Redundant Manipulators with Optimal Joint Torque." In AI based Robot Safe Learning and Control. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5503-9_6.

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Wang, Chongchong, Guilin Yang, Chin-Yin Chen, and Qiang Xin. "A Dual-Loop Dual-Frequency Torque Control Method for Flexible Robotic Joint." In Communications in Computer and Information Science. Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-13-2396-6_52.

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Ren, Xiaoyong, Liang Zhen, Yujun Li, and Yanfeng Liu. "Dynamic Characteristics Analysis of Prosthetic Knee Joint Based on MR Damper." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-97-7887-4_70.

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Abstract In order to solve the needs of the disabled for limb rehabilitation, the prosthetic knee joint can swing freely with the intention of the stump user. According to the driving principle of the prosthetic knee joint of MR Damper, the prosthetic limb is designed. By making full use of the magnetization characteristics of magnetorheological fluid, the magnitude of current is related to the magnitude of damping force, and the torque of the knee joint is changed by changing the input current to control the swing of the prosthetic knee joint and improve the movement flexibility of the prosthetic knee joint. The results show that the proposed prosthetic based on MR Damper can be passively bent and actively extended during horizontal walking swing, and has good stability and flexibility.
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Júnior, José N. N., Gabriel F. Machado, Darielson A. Souza, et al. "Torque Control of a Robotic Manipulator Joint Using LQG and LMI-Based Strategies with LTR." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-72657-7_11.

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Watanabe, Kyosuke, Makoto Oka, and Hirohiko Mori. "Feedback Control of Middle Finger MP Joint Using Functional Electrical Stimulation Based on the Electrical Stimulus Intensity-Joint Torque Relation Model." In Human Interface and the Management of Information. Designing Information. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50020-7_30.

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Okada, T., T. Sakai, K. Shibuya, and T. Shimizu. "Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_23.

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Bickford, John H., and Michael Oliver. "Torque Control of Preload." In Introduction to the Design and Behavior of Bolted Joints, 5th ed. CRC Press, 2022. http://dx.doi.org/10.1201/9780429243943-7.

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Bickford, John H., and Michael Oliver. "Torque and Turn Control." In Introduction to the Design and Behavior of Bolted Joints, 5th ed. CRC Press, 2022. http://dx.doi.org/10.1201/9780429243943-8.

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Bickford, John H. "Torque Control of Bolt Tightening." In Handbook of Bolts and Bolted Joints, 2nd ed. CRC Press, 2025. https://doi.org/10.1201/9781003501183-31.

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Shoberg, Ralph S. "Torque–Angle Control of Bolt Tightening." In Handbook of Bolts and Bolted Joints, 2nd ed. CRC Press, 2025. https://doi.org/10.1201/9781003501183-32.

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Conference papers on the topic "Joint torque control"

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Kim, Seo-Hyun, Ji-Hun Meng, and Jae-Bok Song. "A CRB-Embedded Joint Torque Sensor with Low Crosstalk Error." In 2024 24th International Conference on Control, Automation and Systems (ICCAS). IEEE, 2024. https://doi.org/10.23919/iccas63016.2024.10773042.

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Tao, Liangjie, Miao Liu, Jin Li, and Guangcan Jin. "A Joint Torque Sensor Based on Strain Gauge for Collaborative Robot." In 2025 9th International Conference on Robotics, Control and Automation (ICRCA). IEEE, 2025. https://doi.org/10.1109/icrca64997.2025.11011016.

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Schroeder, Kyle A., Mitch Pryor, and Troy Harden. "A Black Box Model for Estimating Joint Torque in an Industrial Serial Manipulator." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12407.

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Joint torque feedback is useful in serial manipulator control algorithms for contact control, collision detection, performance analysis, etc. For example, the predicted torque can be compared to the measured torque so the system can respond to unexpected or unmodeled physical inputs. The input current to the joint motors can be used to estimate the input torque if the motor parameters are well-understood. However, in a closed commercial system, the motor parameters are often proprietary or unknown. Also, systems that sense or estimate motor torques instead of the joint torques require compensation for gear train losses. In this work, we propose a method for mapping the measured motor current to the joint torque on a serial manipulator without joint torque sensors, thus advancing the potential to implement torque feedback algorithms such as collision detection on any industrial robot with joint position and motor current feedback. This new torque estimating technique (as opposed to using Newton-Euler dynamics) allows for sensing of external forces in collision detection applications for a position controlled robot. The method requires knowledge of the robot link centers of mass, masses, and inertias and that the motor currents and joint positions can be measured. The joint torques due to gravity, inertia, and Coriolis are estimated by the Newton-Euler method using the system geometry, link masses, and the measured joint positions. A method for estimating friction losses using only the current and the predicted joint torque is demonstrated. The measured current, less estimated friction, is then mapped to the joint torque. The validity of the black box joint torque estimating model was demonstrated using two Motoman SIA-5D manipulators with a 3rd party controller provided by Agile Planet. The joints of the robot were moved through a variety of test motions with known joint torque characteristics (as calculated using Newton-Euler dynamics). Estimated joint torques are similar to the calculated torque. Physical significance of the torque is validated by comparing the estimated torque to the calculated torque generated by a known force. The feasibility of the estimated torque error to force detection is discussed in terms of improving the safety and deployment options for industrial robotic systems.
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Arefeen, Asif, and Yujiang Xiang. "Optimal Control of Spine and Shoulder Powered Exoskeletons for Squat Lifting." In ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/detc2023-114984.

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Abstract In this study, a two-dimensional (2D) human skeletal model is used to predict the optimal lifting motion for the cases with and without exoskeletons using inverse dynamics optimization. The kinematics and dynamics of the human model were expressed in Denavit-Hartenberg (DH) representation. Furthermore, the electromechanical dynamics of the spine and shoulder exoskeletons’ DC motors are modeled in the lifting optimization formulation. The design variables are human joint angle profiles and exoskeleton motor current profiles. The normalized human joint torque squared is minimized subject to physical and lifting task constraints. The optimization problem was solved by the gradient-based optimizer SNOPT. The comparison of the predicted human joint angle profiles, joint torque profiles, and ground reaction force (GRF) profiles are presented between lifting tasks with and without exoskeleton assistance. The optimal torques of the exoskeletons at the spine and shoulder joints are achieved by solving the lifting optimization problem, and it is observed that the proposed method has reduced the human joint torque magnitudes due to the exoskeletons’ assistance. The peak values of the human spine and shoulder joint torque magnitudes decreased by 6.40% and 38.01% respectively, due to the exoskeleton assistance. However, human knee joint torque has slightly increased due to the extra weight of the exoskeletons.
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Zhang, Sheng, and Hu Zhang. "Simulation of Exoskeleton�s Virtual Joint Torque Control." In 2013 International Conference on Advanced Computer Science and Electronics Information. Atlantis Press, 2013. http://dx.doi.org/10.2991/icacsei.2013.139.

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Sardellitti, I., G. Palli, N. G. Tsagarakis, and D. G. Caldwell. "Antagonistically actuated compliant joint: Torque and stiffness control." In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). IEEE, 2010. http://dx.doi.org/10.1109/iros.2010.5651277.

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Welch, Stephen B., Christian D. Runyon, Benjamin C. Beiter, Connor W. Herron, Bhaben Kalita, and Alexander Leonessa. "A Mapping Approach to Achieve Torque Control for Parallel-Actuated Robotic Systems." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-95893.

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Abstract In this work, we present an approach for realizing the torque control for a parallel-actuated robotic system by mapping the motion of a linear series elastic actuator (LSEA) to its driven robot joint. In most standard robotic modeling and control strategies, a robot is assumed to be actuated by torques applied directly at each joint and constructed as an open kinematic chain. However, the use of non-direct-drive actuators can violate these assumptions, causing additional challenges for the modelling and control of the robot. On our humanoid robot we use standard high level controllers to command desired joint positions and torques in order to generate desired behaviors. However, the humanoid robot is actually actuated by LSEAs, which are defined by actuator length and force. Overcoming this difference requires a method of mapping the motion and effort of an LSEA onto the corresponding joint of a robot. Our mapping approach allows for the conversion of generic desired joint position and torque trajectories consistent with standard controllers into actuator length and force trajectories that can be implemented on an LSEA-actuated robot. We present a two-stage methodology to achieve low-level torque control on our humanoid robot: a validation of the force-torque mapping in simulation, and a force controller implementation for tracking these resulting torque trajectories on a sample simulation of a single robot joint.
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Lee, Woongyong, Min Jun Kim, and Wan Kyun Chung. "Joint torque servo control of electro-hydrostatic actuators for high torque-to-weight ratio robot control." In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016. http://dx.doi.org/10.1109/iros.2016.7759081.

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Gautier, M., A. Janot, A. Jubien, and P. O. Vandanjon. "Joint stiffness identification from only motor force/torque data." In 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011). IEEE, 2011. http://dx.doi.org/10.1109/cdc.2011.6160589.

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Tsuji, Hirokazu, and Makoto Nakano. "Bolt Preload Control for Bolted Flange Joint." In ASME 2002 Pressure Vessels and Piping Conference. ASMEDC, 2002. http://dx.doi.org/10.1115/pvp2002-1094.

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Tightening method for flange joints proposed by ASME PCC-1 specifies that bolts are tightened by the cross-pattern sequence and tightening torque is raised with several steps. On the other hand, new tightening method has been proposed by Japan BFC committee, in which bolts are tightened in the clockwise-pattern sequence and tightening torque is 100% of the target torque in all steps after an install step with some snug torque. Tightening tests using flanges with various nominal sizes, performed in this study, show that the new tightening method achieves comparable uniformity in bolt preloads and in flange alignment with ASME PCC-1 procedure. This new tightening method is able to reduce both the work volume in the tightening operation and the possibility of human errors like missing the tightening order in it. Step-like increment of the bolt tension under the repeated tightening with small increment of the tightening torque is also discussed. Experimental results show that continuous control of the bolt tension by the repeated tightening is impossible. The step-like increment of the bolt tension is observed in the tightening process of the actual bolted flange joints so that the excessive iteration of the repeated tightening round hardly improves the uniformity of the bolt preloads.
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