We describe a new theoretical framework for robot-aided training of arm movements. This framework is based on recent studies of motor adaptation in human subjects and on general c...
Humanoid robots are high-dimensional movement systems for which analytical system identification and control methods are insufficient due to unknown nonlinearities in the system s...
— Local linearizations are ubiquitous in the control of robotic systems. Analytical methods, if available, can be used to obtain the linearization, but in complex robotics system...