IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Control Method for a 3DOF Bi-articular Manipulator towards Robotic Rehabilitation

2018 IEEE 7th Global Conference on Consumer Electronics (GCCE)

Author(s): Kazumasa Kobayashi ; Toshiyuki Murao ; Hiroyuki Kawai ; Ryoichi Suzuki
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Conference Location: Nara, Japan, Japan
Conference Date: 9 October 2018
Page(s): 665 - 668
ISBN (CD): 978-1-5386-6308-0
ISBN (Electronic): 978-1-5386-6309-7
DOI: 10.1109/GCCE.2018.8574621
Regular:

This paper investigates passivity-based control for a 3DOF manipulator with antagonistic bi-articular muscles towards robotic rehabilitation. The dynamics of a 3DOF manipulator with antagonistic... View More

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