Mechanical impedance

The central nervous system stabilizes unstable dynamics by learning optimal impedance

Etienne Burdet, Rieko Osu, David W. Franklin, Theodore E. Milner, Mitsuo Kawato

Citations: 1116 • 2001

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Alin Albu‐Schäffer, Christian Ott, Gerd Hirzinger

Citations: 805 • 2007

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction

Giovanni Tonietti, Riccardo Schiavi, Antonio Bicchi

Citations: 535 • 2006

A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots

Jan F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. van der Helm, Herman van der Kooij

Citations: 433 • 2006

Adaptive variable impedance control for dynamic contact force tracking in uncertain environment

Jinjun Duan, Yahui Gan, Ming Chen, Xianzhong Dai

Citations: 395 • 2018

VSA-II: a Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans

Riccardo Schiavi, Giorgio Grioli, Soumen Sen, Antonio Bicchi

Citations: 360 • 2008

Biomimetic Tactile Sensor Array

Nicholas Wettels, Veronica J. Santos, Roland S. Johansson, Gerald E. Loeb

Citations: 343 • 2008

Series elastic actuators for high fidelity force control

Jerry Pratt, Ben Krupp, Chris Morse

Citations: 342 • 2002

Adaptive Impedance Control for an Upper Limb Robotic Exoskeleton Using Biological Signals

Zhijun Li, Zhicong Huang, Wei He, Chun‐Yi Su

Citations: 319 • 2016

Force Tracking in Impedance Control

H. Seraji, R. Colbaugh

Citations: 299 • 1997

Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators

Fabrizio Caccavale, Pasquale Chiacchio, Alessandro Marino, Luigi Villani

Citations: 274 • 2008

NEUROExos: A Powered Elbow Exoskeleton for Physical Rehabilitation

Nicola Vitiello, Tommaso Lenzi, Stefano Roccella, Stefano Rossi, E. Cattin, Francesco Giovacchini, F. Vecchi, Maria Chiara Carrozza

Citations: 270 • 2012

Stability Considerations for Variable Impedance Control

Klas Kronander, Aude Billard

Citations: 270 • 2016

Tele-impedance: Teleoperation with impedance regulation using a body–machine interface

Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi

Citations: 267 • 2012

Adaptive Impedance Control of a Robotic Orthosis for Gait Rehabilitation

Shahid Hussain, Sheng Quan Xie, Prashant K. Jamwal

Citations: 223 • 2012

Design of components for programmable passive impedance

K.F. Laurin-Kovitz, J. Edward Colgate, S.D.R. Carnes

Citations: 190 • 2002

Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot

Keenan A. Wyrobek, Eric Berger, H. F. Machiel Van der Loos, J. Kenneth Salisbury

Citations: 186 • 2008

Variable Impedance Control and Learning—A Review

Matteo Saveriano

Citations: 184 • 2020

Towards versatile legged robots through active impedance control

Claudio Semini, Victor Barasuol, Thiago Boaventura, Marco Frigerio, Michele Focchi, Darwin G. Caldwell, Jonas Buchli

Citations: 175 • 2015

Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators

Citations: 168 • 2020