1. 毕业设计（论文）的内容和要求

1. Design the impedance control method; 2. Simulation 3. Real experiment

2. 参考文献

[1] M.S. Ju,C. C.K.Lin, D.H.Lin, et.al. A rehabilitation robot with force#8211;position hybrid fuzzy controller: hybrid fuzzy control of rehabilitation robot [J].IEEE Trans Neural Systems Rehabil Eng, 2005,13(3):349-358. [2]. N.Hogan. Impedance Control: An approach to manipulation: Part 1-theory, Part 2-Implementation, and Part 3-Application [J]. ASME J. of Dynamic Systems, Measurement and Control, 1985, 107(1):1-24. [3] T Tsuji, Y Tanaka. On-line learning of robot arm impedance using neural networks [J]. Robotics and Autonomous Systems, 2005, 52(4):257-271. [4] Z Xu, G Fang. Fuzzy-Neural Impedance Control for Robots [J]. Lecture Notes in Control and Information Sciences, 2004, 263-275. [5] K Kiguchi, T Tanaka, T Fukuda. An exoskeletal robot for human shoulder joint motion assist [J]. IEEE/ASME Transactions on Mechatronics, 2003, 8(1):125-135.

3. 毕业设计（论文）进程安排

1st#8212;#8212;3rd week, study the reference 4th#8212;#8212;8th week, design the imepdance control 9th#8212;#8212;12th week, numerical simulation and real experiments after 12th, write the thesis and prepare the presentation