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Gotowe bibliografie tematyczne / Joint torque control

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Gotowa bibliografia na temat „Joint torque control”

Autor: Grafiati

Data publikacji: 3 czerwca 2025

Data aktualizacji: 31 lipca 2025

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Artykuły w czasopismach na temat "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

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2

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 dissipa

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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

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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-torque

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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." 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

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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

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8

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 tar

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9

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 su

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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.

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Rozprawy doktorskie na temat "Joint torque control"

1

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

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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

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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 gearm

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6

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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(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. Comp

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Książki na temat "Joint torque control"

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

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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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6

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

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Części książek na temat "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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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 prosth

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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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Ma, Bing, Hangwei Zhang, Ximing Yao, Yuan Yao, Tianjiao An, and Qiang Pan. "Joint Torque Sensor-Based Distributed Coordinated Control of Dual-Arm Reconfigurable Manipulators." In Communications in Computer and Information Science. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-96-7352-0_2.

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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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Streszczenia konferencji na temat "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 compensa

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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 subjec

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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

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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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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 a

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