Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method
This paper proposes a variable impedance control strategy based on the singular perturbation method to address the challenges of achieving accurate impedance characteristics and mitigating stability degradation in two-degree-of-freedom planar SEA-driven robots. By decomposing the system into fast an...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806251325135 |
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