Sharif University of Technology Scientia Iranica 1026-3098 22 2 2015 04 01 An adaptive impedance control algorithm; Application in exoskeleton robot An adaptive impedance control algorithm; Application in exoskeleton robot 519 529 3664 EN M. M. Ataei Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran H. Salarieh Department of Mechanical Engineering, Sharif University of Technology, Tehran, P.O. Box 11155-9567 Iran A. Alasty c. Department of Mechanical Engineering, Sharif University of Technology, Tehran, P.O. Box 11155-9567 Iran Journal Article 2014 11 17 Exoskeleton is a well-known example of an unconstrained robot for which the desired path is not predefined. Regarding these two effective features, a formulation for impedance control algorithm is presented and its prominence is demonstrated both mathematically and through simulation. Moreover it is essential to control this robot by an adaptive method because at least dynamic characteristics of the load are unknown. Unfortunately the existing methods do not address aforementioned traits or become unstable as inertia matrix becomes singular. Here an adaptive algorithm is generated based on the logic of Least Squares identification method rather than the Lyapunov stability criterion to tackle those limitations. https://scientiairanica.sharif.edu/article_3664_b67fb3360ae5597d85a005153451dd4e.pdf