Maintaining precise interaction force in uncertain environments characterized by unknown and varying stiffness or location is significantly challenging for robotic manipulators. Existing approaches widely employ a two-level control structure in which...
Current training methods show advances in simulation technologies; however, most of them fail to account for changes in the physical or mental state of the trainee. An innovative training method, adaptive to the trainee’s stress levels as measu...
To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investiga...
Torque-based impedance control, a kind of classical active compliant control, is widely required in human–robot interaction, medical rehabilitation, and other fields. Adaptive impedance control effectively tracks the force when the robot comes...
Long COVID patients show symptoms, such as fatigue, muscle weakness and pain. Adequate diagnostics are still lacking. Investigating muscle function might be a beneficial approach. The holding capacity (maximal isometric Adaptive Force; AFisomax) was...
Force tracking control in robot arms has been widely used in many industrial applications, particularly in tasks involving end effectors and environmental contact, such as grinding, polishing, and other similar operations. However, these environments...
High-precision and low-overshoot force control are important to guarantee the material removal rate and surface quality of robot grinding. However, traditional force control methods are subjected to positional disturbance, stiffness disturbance, cont...
This paper proposes a multi-terminal adaptive collaborative operation method for solving the problem of unstable internal force tracking in the clamping and handling of unknown objects by multi-terminal robots. In the proposed method, the internal co...
The actual driving conditions of electric vehicles (EVs) are complex and changeable. Limited by road adhesion conditions, it is necessary to give priority to ensuring safety, taking into account the energy recovery ratio of the vehicle during braking...
Recent advances in bioinspired robotics highlight the growing demand for dexterous, adaptive control strategies that allow robots to interact naturally, safely, and efficiently with dynamic, contact-rich environments. Yet, achieving robust adaptabili...
To address contact force estimation and compliant control for biomimetic robotic arms interacting with uncertain environments, an adaptive variable-damping impedance control method based on a fuzzy-controlled forgetting-factor strong tracking Kalman...
In this article, a nonlinear adaptive fuzzy backstepping controller combined with an adaptive backstepping controller and an adaptive fuzzy controller is proposed for real-time tracking control of an electro-hydraulic force loading system. Firstly, a...
The link between emotions and motor function has been known for decades but is still not clarified. The Adaptive Force (AF) describes the neuromuscular capability to adapt to increasing forces and was suggested to be especially vulnerable to interfer...
When a robot performs a grinding operation, the steady-state force/position tracking accuracy of its end-effector is critical to achieving high grinding quality. To solve this problem, a fuzzy adaptive impedance method is incorporated into the robot&...
This paper presents a control framework that integrates adaptive sliding mode control (ASMC), time-delay control (TDC), and admittance filtering to achieve robust force and position tracking in robot manipulators. TDC is employed to estimate unmodele...
The size of an unmanned aerial vehicle (UAV) swarm and the capabilities of each individual in the swarm are critical determinants of mission effectiveness in multi-target encirclement. This paper proposes a framework for strategic force allocation du...
The grinding force is the most sensitive physical measure of reaction loads in the grinding process. To enhance surface quality and assure high efficiency and stability of the grinding process, it is essential to accomplish adaptive control of the gr...
To address the increasing demands for faster response and higher control accuracy in the braking systems of electric and intelligent vehicles, a novel brake-by-wire actuation unit and its braking force control methods are proposed. The braking unit e...
This research proposes a multi-modal pipe-climbing robot design and a position-based force-tracking adaptive impedance controller for pipe surface inspections and maintenance in unstructured industrial environments. The driving foot combines underact...
Adaptive Force (AF) reflects the capability of the neuromuscular system to adapt adequately to external forces with the intention of maintaining a position or motion. One specific approach to assessing AF is to measure force and limb position during...
Atomic Force Microscopy (AFM) is an advanced imaging technique which features nanoscale resolution and the ability to work under physiological conditions on soft samples. Modern AFM systems offer easy access to Dynamic Mode imaging which reduces the...
As critical end-effectors enabling the practical deployment of marine robotic systems, soft hands face persistent challenges including multi-finger asynchronization, unbalanced force distribution, and insufficient anti-disturbance robustness, compoun...
To address the issues of our agile satellites’ poor attitude maneuverability, low pointing stability, and pointing inaccuracy, this paper proposes a new type of stabilized platform based on seven-degree-of-freedom Lorentz force magnetic levitat...
Screw-drive in-pipe robots are widely used for inspection and maintenance of pipeline infrastructure because their tilted-wheel locomotion enables continuous traversal of horizontal, vertical, and curved pipes. However, most existing designs rely on...
As intelligent power grid construction accelerates, power metering warehouses increasingly require fully automatic handling of diverse and fragile devices, ranging from smart meters to current transformers. Conventional rigid clamping schemes apply f...
The aerospace electro-hydraulic servo simulator is used to simulate the air load received during flight, and is used for the performance test and acceptance test of aerospace servo actuators on the ground. The force loading accuracy of the load simul...
Contact force control for Unmanned Aerial Manipulators (UAMs) is a challenging issue today. This paper designs a new method to stabilize the UAM system during the formation of contact force with the target. Firstly, the dynamic model of the contact p...
The force tracking control of deep-sea hydraulic manipulator systems with long transmission pipelines is disposed via fuzzy adaptive backstepping control based on an extended state observer in this paper. The pipeline model is established and then us...
Adaptive brake force distribution (BFD) is critical for the safety and efficiency of electric commercial vehicles (ECVs), yet the integration of thermal constraints, real-time control, and stability requirements remains fragmented. Following PRISMA 2...
Adaptation to external forces relies on a well-functioning proprioceptive system including muscle spindle afferents. Muscle length and tension control in reaction to external forces is most important regarding the Adaptive Force (AF). This study inve...
A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test of an aircraft actuation system. In this paper, an observer-based backstepping adaptive co...
Aiming at the high-precision torque output and saturation singularity avoidance problems in Lorentz force magnetic bearing (LFMB) swarms for magnetic levitation spacecraft, this study designs a manipulation law based on an adaptive weighted pseudo-in...
Sensorimotor control can be impaired by slacked muscle spindles. This was shown for reflex responses and, recently, also for muscular stability in the sense of Adaptive Force (AF). The slack in muscle spindles was generated by contracting the lengthe...
This study resolves a critical challenge in electromechanical brake system validation: conventional ABS/RBS integrated platforms’ inability to dynamically simulate tire-road adhesion characteristics during braking. We propose a fuzzy adaptive P...
End-effectors are becoming increasingly vital in orbital space missions, performing increasingly complex operational tasks. Current on-orbit missions primarily utilize net systems and rigid grippers as manipulators. However, the dynamic analysis of t...
The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains the synthe...
25 May 2022
Although the twenty-first century is deemed as a new era of globalization, waves of immigration continue, due to disparities between politically and economically unstable regions and Western democratized and developed countries. Immigration research...
Estimating applied force using force myography (FMG) technique can be effective in human-robot interactions (HRI) using data-driven models. A model predicts well when adequate training and evaluation are observed in same session, which is sometimes t...
This study presents a comprehensive dynamic analysis of mechanical systems incorporating elastic joints and introduces an adaptive vibration actuator with an integrated transmission variator. The system’s behavior is modeled through kinematic a...
In this paper, a back-drivable and miniature rotary series elastic actuator (RSEA) is proposed for robotic adaptive grasping. A compact arc grooves design has been proposed to effectively reduce the dimension of the RSEA system. The elastic elements...
This study develops a theoretical and computational mechanics framework for regular dimples produced by rotary ball burnishing on an external cylindrical surface. The model combines the local quadratic ball–cylinder gap, an effective mean inden...
Using soft materials in robotic mechanisms has become a common solution to overcome many challenges associated with the rigid bodies frequently used in robotics. Compliant mechanisms allow the robot to adapt to objects and perform a broader range of...
This study proposes a force–position hybrid control method for quadruped robots based on the Model Predictive Control (MPC) algorithm, aiming to address the challenges of stability and adaptability in complex terrain environments. Traditional c...
This paper addresses issues such as nonlinearity, model uncertainty, and multiple policy constraints within the dynamic evolution of new quality productive forces systems. It proposes a research framework integrating data-driven modelling with adapti...
Cell–substrate interaction plays an important role in intracellular behavior and function. Adherent cell mechanics is directly regulated by the substrate mechanics. However, previous studies on the effect of substrate mechanics only focused on...
The ground reaction force (GRF) recorded by a platform when a person stands upright lies at the interface between the neural networks controlling stance and the body sway deduced from centre of pressure (CoP) displacement. It can be decomposed into v...
The original virtual force algorithm (VFA) is proposed for the two-dimensional node coverage and localization of wireless sensor networks (WSN). This work proposes a novel three-dimensional improved virtual force coverage (3D-IVFC) algorithm for the...
Understanding the driving forces of land use and land cover change (LUCC) is crucial for revealing the coupled dynamics of human–land systems and supporting optimized spatial planning and resource allocation. To overcome the limitations of conv...
Achieving high-precision force tracking in robotic physical interaction remains challenging in the presence of environmental and dynamic model uncertainties. Conventional impedance control strategies often exhibit excessive force overshoot at contact...
The real-time identification of time-varying cable force is critical for accurately evaluating the fatigue damage of cables and assessing the safety condition of bridges. In the context of unknown wind excitations and only one available accelerometer...
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