Abstract:An adaptive impedance control method based on dexterity for compliant interaction is proposed for the problem of compliance and motion performance of the human’s healthy side interacting with the manipulator in bilateral mirror rehabilitation motion-assisted training, and constructs a local virtual force field to hinder the movement of the manipulator to the low motion performance region, thus improving the motion performance of the manipulator. Firstly, the dynamic model of the manipulator and the human–robot… Show more
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