Transferring Human Impedance Regulation Skills to Robots

  • Arash Ajoudani

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 110)

Table of contents

  1. Front Matter
    Pages i-xxiv
  2. Arash Ajoudani
    Pages 1-8
  3. Teleimpedance Control of a Robotic Arm

  4. Human-like Impedance Control of a Dual-Arm Manipulator

    1. Front Matter
      Pages 59-59
  5. Teleimpedance Control of a Robotic Hand

  6. Teleimpedance Control of a Compliant Knee Exoskeleton

    1. Front Matter
      Pages 117-117
    2. Arash Ajoudani
      Pages 153-154
  7. Back Matter
    Pages 155-167

About this book


This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.


Human Impedance Regulation Skills Impedance Control Physical Human-Robot Interaction Robotics Teleoperation

Authors and affiliations

  • Arash Ajoudani
    • 1
  1. 1.Department of Advanced RoboticsItalian Institute of Technology (IIT)GenovaItaly

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2016
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-24203-3
  • Online ISBN 978-3-319-24205-7
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site