This paper presents a controller design based on μ synthesis for compliant maneuvers, which enables a robust force feedback without using a force sensor. The controller maintains robust stability against uncertainties existing in both environment and human dynamics, which contributes to dexterous manipulation. The controller described here is implemented on the human power extender, which is worn by a human and amplify the human's physical strength, while the human's intelligence remains as the central control system for manipulation.
|ページ（範囲）||IV-1014 - IV-1019|
|ジャーナル||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|出版ステータス||Published - 1999 12 1|
|イベント||1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn|
継続期間: 1999 10 12 → 1999 10 15
ASJC Scopus subject areas