In the displacement–force switching control, the jack was operated by displacement-control when the test specimen was flexible but switched to force-control once the specimen became stiff. Validity of the switching control technique was also checked by a series of online tests applied to the base...
Bowden cable–fabric is a key force transfer device for flexible exoskeletons, and its precise control of force/displacement is a significant factor in the human–machine interaction of flexible exoskeletons. In this paper, a force/displacement control method based on friction compensation and impedance...