Article

Real-Time Neuroadaptive Control with Tactile Calibration for Physical Human-Robot Interaction

2026-06-04

Abstract excerpt

We present a neuroadaptive control framework applied to a tactile sensing interface that enables real-time, human-guided physical interaction with a robotic arm. A dual-loop controller is employed, consisting of a real-time inner-loop neural network that compensates for nonlinear robot dynamics and an outer-loop adaptive admittance model that maps tactile sensor voltages to desired end-effector trajectories. Piezo...

Topics

Open a Topic to create a Post that cites this publication.

Identifiers and source

Literature Corpus work: 56eb66aa-09a3-5b5e-9d1d-5e23cdb502d8
DOI: 10.20944/preprints202606.0309.v1

Open publication

Related research

Semantic proximity does not establish scientific evidence.

Click a neighbor to travelStep 1 · 12 closest

Real-Time Neuroadaptive Control with Tactile Calibration for Physical Human-Robot InteractionDOI 10.20944/preprints202606.0309.v1Read

Human-Robot Variable Impedance Skill Transfer Learning Based on Dynamic Movement Primitives and Vision SystemSemantic proximity Read

Embedding high-resolution touch across robotic hands enables adaptive human-like graspingSemantic proximity Read

A physics-grounded tactile representation for generalizable contact-rich manipulationSemantic proximity Read

Human-Robot Interaction with Robust Prediction of Movement Intention Surpasses Manual ControlSemantic proximity Read

Biologically informed geometry and force distribution improve task performance in agonist/antagonist tendon-driven prosthetic handsSemantic proximity Read

A Cross-Domain Orthogonal Spherical Interface for Bidirectional Haptic Human Robot InteractionSemantic proximity Read

Should bionic limb control mimic the human body? Impact of control strategy on bionic hand skill learningSemantic proximity Read

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and EvidenceSemantic proximity Read

EMG-to-torque models for exoskeleton assistance: a framework for the evaluation of <i>in situ</i> calibrationSemantic proximity Read

EMG Model Calibration and Trajectory Tracking by Remote Rehabilitation ExoskeletonSemantic proximity Read

Human tactile sensing and sensorimotor mechanism: from afferent tactile signals to efferent motor controlSemantic proximity Read

Open-source instrumented object to study dexterous object manipulationSemantic proximity Read