This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.
Chapter 1 Introduction
Chapter 2 On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots
Part I Teleimpedance Control of a Robotic Arm
Chapter 3 Teleimpedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface
Chapter 4 Replicating Human Stiffness Profile with a Cartesian Impedance Controller in Realtime
Chapter 5 Exploring the Roles of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS) Control
Part II Human-like Impedance Controlof a Dual-Arm Manipulator
Chapter 6 Natural Redundancy Resolution in Dual-Arm Manipulation Using CDS Control
Chapter Teleimpedance Control of a Robotic Hand
Chapter 7 A Synergy-Driven Approach to a Myoelectric Hand
Chapter 8 Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand
Part IV Teleimpedance Control of a CompliantKnee Exoskeleton
Chapter 9 Teleimpedance Based Assistive Control for a Compliant Knee Exoskeleton
Chapter 10 Human-Inspired Balancing Assistance: Application to a Knee Exoskeleton
Chapter 11 Conclusions
