Figure4

Improved impedance/admittance switching controller for the interaction with a variable stiffness environment

Figure 4. Switching iteration for the given tolerance value on $$ \Delta \dot{F}_i=|\dot{F}_{ADM, i}-\dot{F}_{IMP, i}| $$. As can be seen, the algorithm is stopped based on the defined tolerance.

Complex Engineering Systems
ISSN 2770-6249 (Online)

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