Name
Abstract | ||
|---|---|---|
The dynamics and control of robotic systems worn by humans are analyzed. General models for the human, the extender, and the interaction between the human and the extender are developed. The stability of the system of human, extender, and object being manipulated is analyzed, and the conditions for stable maneuvers are derived. An expression for the extender performance is defined to quantify the force augmentation. The tradeoff between stability and performance is described. The theoretical predictions are verified experimentally |
Year | DOI | Venue |
|---|---|---|
1990 | 10.1109/ROBOT.1990.126039 | ICRA |
Keywords | Field | DocType |
dynamics,man-machine systems,robots,stability,force augmentation,human worn robotic systems,models,performance measures,control systems,master slave,automatic control,mechanical engineering,actuators | Robotic systems,Control theory,Simulation,Extender,Automatic control,Control engineering,Engineering,Control system,Master/slave,Robot,Actuator | Conference |
Volume | Issue | Citations |
1990 | 1 | 5 |
PageRank | References | Authors |
6.39 | 2 | 1 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| H. Kazerooni | 1 | 766 | 314.26 |