Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

Figure 3

Generic diagram of force-/torque-based impedance control [29, 30]. For the force-/torque-based impedance control, an inner feedback loop for force/torque is optional; see, e.g., (6) that does not use an inner force control loop. For explicit nested loops, the reader is referred to [30].