... 2011 09 01 2012 09 01 2012 adaptive control control nonlinearities feedforward force control learning systems medical robotics patient rehabilitation PI control pneumatic drives position control steel A patient post-stroke may lose control of his or her upper limb...

... of constraint forces and hence actuation then takes less effort. However, in addition to their relatively low range of motion, parallel manipulators have complex dynamics because of the existence of closed kinematic chains and passive joints that makes control design a challenging task. actuators force...

... components are involved in the generalized coordinates or in the constraint equations. Moreover, in this formulation the equations of motion are decoupled from those of constrained force, and each system has its own independent input. This allows the possibility to develop a simple force control action...