Abstract— For robotic manipulation tasks in uncertain environments, good force control can provide significant benefits. The design of force-controlled actuators typically revo...
For haptic devices, compensation of the robot's gravity is a frequent strategy with the aim to reduce interaction forces between robot and human in zero-impedance control. How...
Heike Vallery, Alexander Duschau-Wicke, Robert Rie...
— The principle of Series Elastic Actuation offers considerable advantages for haptic displays compared to stiff actuators. The interaction force between motor and load is direct...
Heike Vallery, Ralf Ekkelenkamp, Herman van der Ko...
— In this paper, we propose a power assist system that amplifies sinusoidal human’s torque and attains minimization of control input requirement using an impedance control and...
Abstract— In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negoti...