Chapter 9 — Force Control

Recent research in impedance ontrol

Experimentacl research on impedance control done in 1991 at Case Western Reserve University in Cleveland, Ohio. The demonstrations involve three scenarios: stiffness control without force sensing; impedance control based on a wrist force sensor; and impedance control based on joint torque sensing. This work was published in the ICRA 1991 video proceedings.
Unknown, Case Western Reserve University, Cleveland
Video clip “Recent Research in Impedance Control,” Case Western Reserve University, ICRA 1991 Video Proceedings, courtesy IEEE