1. TPAD controller schematic and testing for WPC.
TPAD controller schematic and testing for WPC. (A) Control architecture of low- and high-level controller. (B) Schematic of cable motion test. (C) WPC function. (D) A cable was pulled and pushed about 1 ft by hand at frequencies of 0.4 and 0.5 Hz for tension Td = 20 N. Tc and Tnc are the cable tension values with and without the WPC term. The performance of controller is improved during pulling phase, when WPC is added.
J. Kang et al. Sci. Robotics 2017;2:eaan2634
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