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For the nonlinear, time-variable and unpredictable environment (such as the manipulator workspace that has many random and moveable obstacles), a Hammerstein adaptive (HA) impedance controller based on a Hammerstein impedance model is proposed in this paper. The model consists of a static nonlinear element and a linear dynamic element, which can describe the nonlinearity of the environment. Then, ...

Hammerstein Adaptive Impedance Controller for Bionic Wrist Joint Actuated by Pneumatic Muscles