Impedance Control: Advanced Techniques

This lecture covers advanced techniques in impedance control, including impedance control with force feedback, model feedforward, and virtual spring. It explores the use of force sensors, typical master arm control schemes, and closed-loop force control for haptic simulation. The presentation also delves into the Autonomyo exoskeleton for gait assistance in neuromuscular diseases, discussing its design, weight distribution, and control strategies. Additionally, it examines the concept of active variable impedance in locomotion, emphasizing its importance in absorbing shocks and perturbations. The lecture compares impedance and admittance control schemes, detailing inner and outer loop structures for both control methods.