.... 02 04 2005 28 11 2005 manipulators compliance control PI control user interfaces design engineering programmable mechanical compliance equilibrium point control human-robot interaction McKibben actuators air muscles An earlier version of this paper was presented...

... compliance control law in the joint space tries to mimic the action of the central nervous system in regulating elastic properties of a human arm. In particular, relations between the torques exerted by the muscles and the joint stiffness are examined and approximately replicated, for implementing...

... and Control Division January 3, 2003; final revision, September 22, 2003. Associate Editor: C. D. Rahn. 03 January 2003 22 September 2003 05 08 2004 closed loop systems deformation distributed parameter systems compliance control Galerkin method fasteners transfer functions...