Sep 15, 2017 · In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency ...
The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher ...
Abstract—Human-robot interaction (HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade.
In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness ...
Ningbo Yu, Wulin Zou, Wen Tan and Zhuo Yang, "Augmented Virtual Stiffness Rendering of a Cable-driven SEA for Human-Robot Interaction," IEEE/CAA J. Autom ...
Modeling and control of a cable-driven series elastic actuator
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Augmented virtual stiffness rendering of a cable-driven SEA for human-robot interaction ... Human-robot interaction (HRI) is fundamental for human-centered ...
Sep 17, 2018 · Yu, “Augmented virtual stiffness rendering of a cable-driven SEA for human-robot interaction,” The. IEEE/CAA Journal of Automatica Sinica, 2017.
Feb 15, 2019 · This paper aims to improve the stiffness control performance of a cable-driven SEA. Existing impedance controllers were designed within the full ...
... (SEAs) are growingly important in physical human-robot interaction (HRI) ... Augmented virtual stiffness rendering of a cable-driven SEA for human-robot interaction.
