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Artykuły w czasopismach na temat „Joint torque control”

Autor: Grafiati

Data publikacji: 3 czerwca 2025

Data aktualizacji: 31 lipca 2025

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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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3

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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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-torque

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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

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6

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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7

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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10

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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11

Abdallah, M. E., and C. W. Wampler. "Torque control of underactuated tendon-driven fingers." Mechanical Sciences 2, no. 1 (2011): 83–90. http://dx.doi.org/10.5194/ms-2-83-2011.

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Abstract. Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely ("flop") in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired torques. The torque will either push the finger to the joint limits or wrap around an external object with variable torque – behavior that is sufficient for primarily gripping fingers. In addition

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12

Gottlieb, G. L., Q. Song, D. A. Hong, G. L. Almeida, and D. Corcos. "Coordinating movement at two joints: a principle of linear covariance." Journal of Neurophysiology 75, no. 4 (1996): 1760–64. http://dx.doi.org/10.1152/jn.1996.75.4.1760.

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1. Six subjects performed fast, "single-joint" flexions at either the elbow or shoulder over three angular distances in a sagittal plane. Movement endpoints were located to require flexion of only a single, "focal" joint, without any external, mechanical constraint on the other, "nonfocal" joint. Three subjects performed another series of movements between two targets while moving along different paths and in which both joints were flexed. 2. We compared the torque patterns that were produced at the two joints. For single-joint movements, they were both biphasic pulses that accelerated and the

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13

Hirashima, Masaya, Kazutoshi Kudo, Koji Watarai, and Tatsuyuki Ohtsuki. "Control of 3D Limb Dynamics in Unconstrained Overarm Throws of Different Speeds Performed by Skilled Baseball Players." Journal of Neurophysiology 97, no. 1 (2007): 680–91. http://dx.doi.org/10.1152/jn.00348.2006.

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This study investigated how the human CNS organizes complex three-dimensional (3D) ball-throwing movements that require both speed and accuracy. Skilled baseball players threw a baseball to a target at three different speeds. Kinematic analysis revealed that the fingertip speed at ball release was mainly produced by trunk leftward rotation, shoulder internal rotation, elbow extension, and wrist flexion in all speed conditions. The study participants adjusted the angular velocities of these four motions to throw the balls at three different speeds. We also analyzed the dynamics of the 3D multij

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14

Emmanuel, C. Agbaraji, C. Inyiama Hyacinth, and C. Okezie Christiana. "Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme." Physical Science International Journal 15, no. 1 (2017): 1–10. https://doi.org/10.9734/PSIJ/2017/33578.

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Joint torque control of a robotic manipulator requires a close dynamic description model involving the non negligible dynamics of the subsystems making up the system. The mathematical model for joint torque control of the robotic manipulator has been identified as one of the major sources of failures of commercial robots. The manipulator is basically made up of links connected by joints, and the torque that moves the links connected to a joint is produced by the joint actuator and also in practice, the control law is fed into the actuator inputs, therefore the actuator dynamics becomes non neg

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15

Zhang, Taihui, Honglei An, and Hongxu Ma. "Joint torque and velocity optimization for a redundant leg of quadruped robot." International Journal of Advanced Robotic Systems 14, no. 5 (2017): 172988141773189. http://dx.doi.org/10.1177/1729881417731897.

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Hydraulic actuated quadruped robot similar to BigDog has two primary performance requirements, load capacity and walking speed, so that it is necessary to balance joint torque and joint velocity when designing the dimension of single leg and controlling its motion. On the one hand, because there are three joints per leg on sagittal plane, it is necessary to firstly optimize the distribution of torque and angular velocity of every joint on the basis of their different requirements. On the other hand, because the performance of hydraulic actuator is limited, it is significant to keep the joint t

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16

Lee, Hosang, Hyung Joo Kim, and Jaeheung Park. "Control of a nonanthropomorphic exoskeleton for multi-joint assistance by contact force generation." International Journal of Advanced Robotic Systems 15, no. 3 (2018): 172988141878209. http://dx.doi.org/10.1177/1729881418782098.

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In this article, a novel controller for a nonanthropomorphic exoskeleton robot was designed to reduce joint torque of its operator using the contact force between them. Since the joints of the nonanthropomorphic exoskeletons are not directly connected to those of the operator due to the difference between their kinematic structure, joint assistance is performed by transmitting the contact force on their coupling parts instead of transmitting the joint torque of the nonanthropomorphic exoskeleton directly into the human joint. Most of the previous studies have focused on reducing the measured c

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17

Gribble, Paul L., and David J. Ostry. "Compensation for Interaction Torques During Single- and Multijoint Limb Movement." Journal of Neurophysiology 82, no. 5 (1999): 2310–26. http://dx.doi.org/10.1152/jn.1999.82.5.2310.

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During multijoint limb movements such as reaching, rotational forces arise at one joint due to the motions of limb segments about other joints. We report the results of three experiments in which we assessed the extent to which control signals to muscles are adjusted to counteract these “interaction torques.” Human subjects performed single- and multijoint pointing movements involving shoulder and elbow motion, and movement parameters related to the magnitude and direction of interaction torques were manipulated systematically. We examined electromyographic (EMG) activity of shoulder and elbow

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18

Hu, Shengqiao, Houcai Liu, Huimin Kang, Puren Ouyang, Zhicheng Liu, and Zhengjie Cui. "High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load." Actuators 12, no. 6 (2023): 232. http://dx.doi.org/10.3390/act12060232.

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As regards the impact and chattering of 4-DOF redundant parallel robots that occur under high-speed variable load operating conditions, this study proposed a novel control algorithm based on torque feedforward and fuzzy computational torque feedback hybrid control, which considered both the joint friction torque and the disturbance torque caused by the variable load. First of all, a modified dynamic model under variable load was established as follows: converting terminal load change to terminal centroid coordinate change, then mapping to the calculation of terminal energy, and lastly, establi

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19

Li, Xinwei, Su Liu, Ying Chang, Sujiao Li, Yuanjie Fan, and Hongliu Yu. "A Human Joint Torque Estimation Method for Elbow Exoskeleton Control." International Journal of Humanoid Robotics 17, no. 03 (2020): 1950039. http://dx.doi.org/10.1142/s0219843619500397.

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Exoskeleton for motion assistance has obtained more and more attention due to its advantages in rehabilitation and assistance for daily life. This research designed an estimation method of human joint torque by the kinetic human–machine interaction between the operator’s elbow joint torque and the output of exoskeleton. The human elbow joint torque estimation was obtained by back propagation (BP) neural network with physiological and physical input elements including shoulder posture, elbow joint-related muscles activation, elbow joint position, and angular velocity. An elbow-powered exoskelet

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20

Gao, Liming, Jianjun Yuan, and Yingjie Qian. "Torque control based direct teaching for industrial robot considering temperature-load effects on joint friction." Industrial Robot: the international journal of robotics research and application 46, no. 5 (2019): 699–710. http://dx.doi.org/10.1108/ir-12-2018-0254.

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Purpose The purpose of this paper is to design a practical direct teaching method for the industrial robot with large friction resistance and gravity torque but without expensive force/torque sensor, where the gravity torque is just a function of joints position, whereas the friction is closely associated with joint velocity, temperature and load. Design/methodology/approach In the teaching method, the output torque of joint motor is controlled through current to compensate gravity torque completely and friction resistance incompletely. Three variables closely associated with friction are inve

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21

Zubair, Humza N., Erik E. Stout, Natalia Dounskaia, and Irina N. Beloozerova. "The role of intersegmental dynamics in coordination of the forelimb joints during unperturbed and perturbed skilled locomotion." Journal of Neurophysiology 120, no. 4 (2018): 1547–57. http://dx.doi.org/10.1152/jn.00324.2018.

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Joint coordination during locomotion and how this coordination changes in response to perturbations remains poorly understood. We investigated coordination among forelimb joints during the swing phase of skilled locomotion in the cat. While cats walked on a horizontal ladder, one of the cross-pieces moved before the cat reached it, requiring the cat to alter step size. Direction and timing of the cross-piece displacement were manipulated. We found that the paw was transported in space through body translation and shoulder and elbow rotations, whereas the wrist provided paw orientation required

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22

Corcos, D. M., G. C. Agarwal, B. P. Flaherty, and G. L. Gottlieb. "Organizing principles for single-joint movements. IV. Implications for isometric contractions." Journal of Neurophysiology 64, no. 3 (1990): 1033–42. http://dx.doi.org/10.1152/jn.1990.64.3.1033.

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1. Normal human subjects made isometric pulse and step contractions about the elbow to visually defined target torques of different amplitudes and at different rates. We measured joint torque and electromyograms (EMG) from two agonist and two antagonist muscles. 2. When the task specification requires that the subject explicitly alter the rate at which torque is increased, the rates of rise of the agonist and antagonist EMG bursts covary with the rate of rise of the torque. For pulses of torque the duration of motoneuron excitation varies with the duration of the task-defined contractile event

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23

Bianco, Nicholas A., Patrick W. Franks, Jennifer L. Hicks, and Scott L. Delp. "Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study." PLOS ONE 17, no. 1 (2022): e0261318. http://dx.doi.org/10.1371/journal.pone.0261318.

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Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining met

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24

Liu, Tingrui, Yan Ding, Pan Wang, Kang Zhao, and Jiahao Jia. "Stability Control of Transport Robot Based on Iterative Learning Control." Journal of Physics: Conference Series 2173, no. 1 (2022): 012061. http://dx.doi.org/10.1088/1742-6596/2173/1/012061.

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Abstract In this study, stability control for transport process of transport robot subjected to 2R manipulator movement, is investigated based on iterative learning control (ILC). The joint positions, speeds and accelerations are used as variables to establish the expression of driving torques of manipulator joints. According to the experience, the linear interference torque in the process of motion is determined. Three ILC algorithms are applied to achieve stability control, and good trajectory tracking results are obtained. Position tracking, speed tracking, and the maximum position error in

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25

Darling, W. G., and K. J. Cole. "Muscle activation patterns and kinetics of human index finger movements." Journal of Neurophysiology 63, no. 5 (1990): 1098–108. http://dx.doi.org/10.1152/jn.1990.63.5.1098.

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1. The present study was conducted to determine whether dynamic interaction torques are significant for control of digit movements and to investigate whether such torques are compensated by specific muscle activation patterns. 2. Angular positions of the metacarpophalangeal (MP) and proximal interphalangeal (PIP) joints of the index finger in the flexion/extension plane were recorded with the use of planar electrogoniometers. Muscle activation patterns were monitored with the use of fine wire and surface electromyography of intrinsic and extrinsic finger muscles. 3. Dynamic interaction torques

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26

Abdullahi, Auwalu Muhammad, Ado Haruna, and Ronnapee Chaichaowarat. "Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot." Journal of Sensor and Actuator Networks 13, no. 2 (2024): 24. http://dx.doi.org/10.3390/jsan13020024.

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of

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27

Ni, Fenglei, Tianhui Li, Yiwei Liu, et al. "Dynamic modeling and controller design for SEA joints." Assembly Automation 38, no. 5 (2018): 661–68. http://dx.doi.org/10.1108/aa-12-2017-199.

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Purpose The purpose of this paper is to study the dynamic modeling and controller design for the series element actuator (SEA) joints. The robot equipped with SEA joints is a strong coupling, nonlinear, highly flexible system, which can prevent itself from damaging by the accidental impact and the people to be injured by the robot. Design/methodology/approach Based on the torque source model, the authors built a dynamic model for the SEA joint. To improve the accuracy of this model, the authors designed an elastic element into the joint and implemented the vector control for the joint motor. A

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28

Martens, Mirco, Thomas Seel, Johannes Zawatzki, and Ivo Boblan. "A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface." Actuators 7, no. 4 (2018): 82. http://dx.doi.org/10.3390/act7040082.

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In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controllers define a general control interface for every robot that is actuated by PMA-driven joints. It will be shown that controlling the torque of a PMA-driven joint enables the use of standard robotic motion control frameworks, because the torque represents the natural input of the robotic equation of mot

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29

Lee, Jyh-Jone, and Lung-Wen Tsai. "Torque Resolver Design for Tendon-Driven Manipulators." Journal of Mechanical Design 115, no. 4 (1993): 877–83. http://dx.doi.org/10.1115/1.2919282.

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Given a set of desired joint torques in an n-DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique, an efficient methodology for transforming joint torques (n elements) to motor torques (n + 1 elements) has been developed. This technique, called “torque resolver,” utilizes two circuit-like operators to transform torques between the two different vector spaces. It can be easily programmed on a

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30

Tian, Hao Bin, Xue Lei Li, Xiao Hang Liu, and Wen Jing Yuan. "Influences of Housing Dimension on Ball Joint Properties." Materials Science Forum 928 (August 2018): 156–61. http://dx.doi.org/10.4028/www.scientific.net/msf.928.156.

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Aluminum ball joint is an advanced structure using to connect steering parts with the merits of simple and lighting. Usually extrusion strength and torque are the most important parameters to evaluate the ball joint properties. Generally, the ball sealed in the Aluminum housing by forming method which has an impact on the extrusion strength and torques. So how to control the forming and achieve the best properties is very important. In the paper, the relations between housing dimension and strength, torque are studied; the influence of forming on torque is researched. The rules in them are ach

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Wozniak, Marek, Krzysztof Siczek, Gustavo Ozuna, and Przemyslaw Kubiak. "A Study on Wear and Friction of Passenger Vehicles Control Arm Ball Joints." Energies 14, no. 11 (2021): 3238. http://dx.doi.org/10.3390/en14113238.

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The following paper describes research on vehicle suspension elements: the ball joints. The worn surface roughness of selected ball pins and their bearings was compared in terms of vehicle mileage, utilization period, and car model. Ball pin roughness was measured using a scanning tunneling microscope (STM), whereas for the bearing surface, a profilometer was used. The aim of this study was to determine the resistive torque in an unloaded ball joint. Using the finite element method, models of the unloaded ball joint were analyzed in two scenarios: with and without interference between the worn

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32

Zhu, Wen-Hong, Erick Dupuis, and Michel Doyon. "Adaptive Control of Harmonic Drives." Journal of Dynamic Systems, Measurement, and Control 129, no. 2 (2006): 182–93. http://dx.doi.org/10.1115/1.2431813.

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Aimed at achieving ultrahigh control performance for high-end applications of harmonic drives, an adaptive control algorithm using additional sensing, namely, the joint and motor positions and the joint torque, and their practically available time derivatives, is proposed. The proposed adaptive controller compensates the large friction associated with harmonic drives, while incorporating the dynamics of flexspline. The L2∕L∞ stability and the L2 gain-induced H∞ stability are guaranteed in both joint torque and joint position control modes. Conditions for achieving asymptotic stability are also

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Mu, Zonggao, Tianliang Liu, Wenfu Xu, Yunjiang Lou, and Bin Liang. "Dynamic feedforward control of spatial cable-driven hyper-redundant manipulators for on-orbit servicing." Robotica 37, no. 1 (2018): 18–38. http://dx.doi.org/10.1017/s026357471800084x.

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SUMMARYThe hyper-redundant manipulators are suitable for working in the constrained on-orbit servicing environment due to the extreme flexibility. However, its modelling and control are very challenging due to the characteristics of non-linearity and strong coupling. In this paper, considering the multi-level mapping among the motors, cables, joints, and end-effector, a proportional derivative (PD) with dynamic feedforward compensation control system is designed. The corresponding control system is divided into five parts: controller, planner, actuator, manipulator, and sensor. The actual cont

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Ajayi, Michael Oluwatosin, Karim Djouani, and Yskandar Hamam. "Bounded Control of an Actuated Lower-Limb Exoskeleton." Journal of Robotics 2017 (2017): 1–20. http://dx.doi.org/10.1155/2017/2423643.

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A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position. A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques. The level of human contribution is feedback of a fraction of the estimated joint torque. This is utilised in order to meet the demands fo

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Togawa, Keiji, and Shigeo Hirose. "Design of Active Cord Mechanism ACM-R2 to Realize 3-D Motions." Journal of Robotics and Mechatronics 13, no. 2 (2001): 176–82. http://dx.doi.org/10.20965/jrm.2001.p0176.

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This paper describes the development of ACM-R2, which is new version of Active Cord Mechanism with 3D mobility. This ACM-R2 is installed with a driving mechanism called ""M-drive"" This mechanism enables ACM-R2 to acquire a high output/mass ratio and torque limiting joints, which works as normal joint and deforms under the excessive torque. It is also installed with a new type of torque sensor ""float differential torque sensor"" on each joint. Additionally ACM-R2 has control computer in the joint units. These specific driving mechanisms enable ACM-R2 to demonstrate new propulsion methods and

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Liu, Xun, Yaqiu Liu, and Hanchen Zhao. "A Redundant Manipulator Joint Torque Estimation Method Based on Disturbance Observer." International Journal on Artificial Intelligence Tools 29, no. 07n08 (2020): 2040015. http://dx.doi.org/10.1142/s0218213020400151.

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With the continuous development of the robot industry, both industrial robots and collaborative robots are developing towards light type and intelligence. The core issue is that how to improve the dynamic control performance of robots and reduce costs. The accurate torque feedback control can be achieved by introducing a joint torque sensor. The disadvantages brought by it are higher cost and the limited performance of the torque sensor. Therefore, on the basis of the traditional current estimated torque, combined with the accurate joint torque data fed back by the torque sensor, a method to e

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Yuan, Jian-jun, Shuai Wang, Weiwei Wan, Yanxue Liang, Luo Yang, and Yifan Liu. "Direct teaching of industrial manipulators using current sensors." Assembly Automation 38, no. 2 (2018): 216–25. http://dx.doi.org/10.1108/aa-02-2017-027.

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Purpose The aim of this paper is to implement direct teaching of industrial manipulators using current sensors. The traditional way to implement teaching is either to use a teaching pedant, which is time consuming, or use force sensors, which increases system cost. To overcome these disadvantages, a novel method is explored in the paper by using current sensors installed at joints as torque observers. Design/methodology/approach The method uses current sensors installed at each joint of a manipulator as torque observers and estimates external forces from differences between joint-driven torque

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Hasan, SK, and Anoop K. Dhingra. "Development of a model reference computed torque controller for a human lower extremity exoskeleton robot." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 235, no. 9 (2021): 1615–37. http://dx.doi.org/10.1177/09596518211009032.

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Exoskeleton robot–based neurorehabilitation has received a lot of attention recently due to positive evidence supporting its ability to provide different forms of physical therapy and in helping evaluate the patient recovery rate accurately. The performance of exoskeleton robot–based physical therapy depends on the accuracy of the motion control system. While the computed torque control scheme based on inverse dynamics is ideal from a theoretical perspective, the stability and tracking performance strongly depends on the model accuracy. Expecting a deterministic payload for a rehabilitation ro

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Young, Fletcher R., Hillel J. Chiel, Matthew C. Tresch, Charles J. Heckman, Alexander J. Hunt, and Roger D. Quinn. "Analyzing Modeled Torque Profiles to Understand Scale-Dependent Active Muscle Responses in the Hip Joint." Biomimetics 7, no. 1 (2022): 17. http://dx.doi.org/10.3390/biomimetics7010017.

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Animal locomotion is influenced by a combination of constituent joint torques (e.g., due to limb inertia and passive viscoelasticity), which determine the necessary muscular response to move the limb. Across animal size-scales, the relative contributions of these constituent joint torques affect the muscular response in different ways. We used a multi-muscle biomechanical model to analyze how passive torque components change due to an animal’s size-scale during locomotion. By changing the size-scale of the model, we characterized emergent muscular responses at the hip as a result of the changi

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Gunji, Hironori, Takashi Kusaka, and Takayuki Tanaka. "A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method." Robotics 14, no. 5 (2025): 54. https://doi.org/10.3390/robotics14050054.

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A partial Lagrangian method is proposed as an inverse dynamics analysis method for multi-link systems. This method, combined with automatic differentiation, allows for the derivation of equations of motion and analytical extraction of motion-induced torque components. We introduce the concept of motion propagation force to describe joint torque components generated by the motion of other joints. This concept aligns with existing notions such as interaction torque, while providing a novel analytical perspective. The effectiveness of the proposed method is confirmed through simulations using a t

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Zhang, Guoteng, Zhenyu Jiang, Yueyang Li, Hui Chai, Teng Chen, and Yibin Li. "Active compliance control of the hydraulic actuated leg prototype." Assembly Automation 37, no. 3 (2017): 356–68. http://dx.doi.org/10.1108/aa-11-2016-160.

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Purpose Legged robots are inevitably to interact with the environment while they are moving. This paper aims to properly handle these interactions. It works to actively control the joint torques of a hydraulic-actuated leg prototype and achieve compliant motion of the leg. Design/methodology/approach This work focuses on the modelling and controlling of a hydraulic-actuated robot leg prototype. First, the design and kinematics of the leg prototype is introduced. Then the linearlized model for the hydraulic actuator is built, and a model-based leg joint torque controller is presented. Furthermo

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Abdullahi, Auwalu Muhammad, and Ronnapee Chaichaowarat. "Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation." Journal of Sensor and Actuator Networks 12, no. 4 (2023): 53. http://dx.doi.org/10.3390/jsan12040053.

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Patients suffering from motor disorders or weakness resulting from either serious spinal cord injury or stroke often require rehabilitation therapy to regain their mobility. In the lower limbs, exoskeletons have two motors aligned with the patients’ hip and knee to assist in rehabilitation exercises by supporting the patient’s body structure to increase the torques at the hip and knee joints. Assistive rehabilitation is, however, challenging, as the human torque is unknown and varies from patient to patient. This poses difficulties in determining the level of assistance required for a particul

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Cooper, Scott E., John H. Martin, and Claude Ghez. "Effects of Inactivation of the Anterior Interpositus Nucleus on the Kinematic and Dynamic Control of Multijoint Movement." Journal of Neurophysiology 84, no. 4 (2000): 1988–2000. http://dx.doi.org/10.1152/jn.2000.84.4.1988.

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We previously showed that inactivating the anterior interpositus nucleus in cats disrupts prehension; paw paths, normally straight and accurate, become curved, hypometric, and more variable. In the present study, we determined the joint kinematic and dynamic origins of this impairment. Animals were restrained in a hammock and trained to reach and grasp a cube of meat from a narrow food well at varied heights; movements were monitored using the MacReflex analysis system. The anterior interpositus nucleus was inactivated by microinjection of the GABA agonist muscimol (0.25–0.5 μg in 0.5 μL salin

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Ning, Dayong, Jinkai Che, Zengmeng Zhang, Hao Tian, Jiaoyi Hou, and Yongjun Gong. "Position/force control of master–slave antagonistic joint actuated by water hydraulic artificial muscles." International Journal of Advanced Robotic Systems 16, no. 3 (2019): 172988141985398. http://dx.doi.org/10.1177/1729881419853981.

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Because of the high force–weight ratio of water hydraulic artificial muscle and its high compatibility with an underwater environment, the water hydraulic artificial muscle has received increasing attention due to its potential uses in marine engineering applications. The master–slave anthropopathic joint actuated by water hydraulic artificial muscles is light and small, and it has good maneuverability for underwater manipulators. However, the control methodologies for water hydraulic artificial muscle joint have not been thoroughly explored to date. This article introduces a master–slave cont

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Goldenberg, A. A., J. A. Apkarian, and H. W. Smith. "An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique." Journal of Dynamic Systems, Measurement, and Control 111, no. 1 (1989): 1–8. http://dx.doi.org/10.1115/1.3153014.

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Manipulator’s control system based on computed torque techniques incorporates a model of the manipulator dynamics. The nominal torque, computed using this mathematical model, does not reflect the effects of unknown loadings and uncertainty in modelling the parameters. An approach is presented which compensates for unknown loading and parameter uncertainty. This compensation is based on the “recursive” identification of a new dynamics operator which maps a vector of generalized coordinates into the vector of generalized forces (joint torques). The identification is based on a least-square appro

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Ding, Yadong, Yaoyao Wang, Feng Ju, and Bai Chen. "An improved robot trajectory planning method considering torque saturation and modeling errors." Transactions of the Canadian Society for Mechanical Engineering 44, no. 2 (2020): 213–27. http://dx.doi.org/10.1139/tcsme-2019-0007.

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Time-optimal trajectory planning algorithms have been widely adopted to minimize the motion time by exploiting the dynamics and joint allowable torques of a robotic manipulator. However, the actual joint torques may exceed the joint allowable torques because of modelling errors or disturbances in the control system. When the torque limit is added for actuator safety, the controller will have no margin to deal with modeling errors or disturbances, which may lead to large path tracking errors. An on-line trajectory time scaling method called path velocity controller can improve path tracking per

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Sun, Longfei, and Huiying Gu. "Backlash Elimination Control for Robotic Joints with Dual–Motor Drive." Actuators 13, no. 8 (2024): 291. http://dx.doi.org/10.3390/act13080291.

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Dual–motor drive is commonly used in heavy–duty robotic joint servo systems. However, the backlash inevitably affects joint accuracy. In this article, a variable bias torque control method is proposed for a dual–motor–driven robotic joint. The variable bias torque varies directly according to the motor current, and the conversion method of the bias compensation torque is presented. A simulation model of the dual–motor drive system in MATLAB/Simulink is established based on the dynamic modeling of a dual–motor drive system, and a robotic joint prototype is also established. The variable bias to

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Shao, Junpeng, Xiaoning Mu, Guitao Sun, and Weiyu Yang. "Joint Torque Control of Hydraulic Quadruped Robot." International Journal of Control and Automation 8, no. 5 (2015): 383–90. http://dx.doi.org/10.14257/ijca.2015.8.5.35.

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Park, Haeun, Baekdong Cha, Chanhee Park, Jeha Ryu, and Joshua (Sung) H. You. "Relationships between Body Weight Support and Gait Speed Parameters and Muscle Activity and Torque During Robot-Assisted Gait Training in Non-Neurological Adults: A Preliminary Investigation." Applied Sciences 12, no. 22 (2022): 11326. http://dx.doi.org/10.3390/app122211326.

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Robot-assisted gait training (RAGT) is a promising therapeutic vehicle to maximize active participation and enhance functional neuroplasticity in patients with central nervous system pathology by adequately adjusting gait speed, body weight support (BWS) level, and impedance provided by the exoskeleton. The aim of the present study was to determine the relationship between RAGT training parameters (BWS and speed) and electromyography (EMG) muscle activity torques in the knee and hip joint during RAGT. To analyze the correlation between the joint torques measured in the Walkbot gait rehabilitat

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Jin, Hui, Mulin Luo, Shiqing Lu, Qingsong He, and Yuanchang Lin. "Design and Analysis of a Novel Variable Stiffness Joint for Robot." Actuators 12, no. 1 (2022): 10. http://dx.doi.org/10.3390/act12010010.

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The variable stiffness of robot joints plays an important role in improving the robot’s compliance, safety, and energy efficiency. In this paper, a novel type of variable stiffness joint based on a rack and pinion structure (VSJ-RP) is proposed. The structure and the variable stiffness principle of the joint are described in detail. The theoretical stiffness calculation and the dynamic model of the joint are established, and the correctness of the model is validated by simulation. The compliance, safety, energy storage, and release characteristics of the joint are validated by position, bearin

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