... programmable constraints (also known as cobots). In Refs. 17 18 19 20 , the issue of physical human-robot interaction is addressed through effective robotic therapy applications. control system synthesis human-robot interaction robot dynamics Routh methods 09 02 2009 05 09 2010...

... that the RA method does not always yield a good reduced model since the method tends to approximate only dominant poles around s = 0 and low-frequency behavior of the original system. Some attempts have been made to improve the RA method ( 3 4 ). discrete systems Routh methods reduced...

... of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS . Manuscript received by the Dynamics Systems and Control Division January 8, 2000. Associate Editor: E. Fahrenthold. 08 January 2000 discrete time systems transient response transfer functions Routh methods reduced order systems approximation...