58 citations · 171 across the 10 of their papers we have counts for
4 papers · 1 filter
An approach for combining transparency and motion assistance of a lower body exoskeleton
Jakob Ziegler, Bernhard Rameder, Hubert Gattringer +1
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, whe…
Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage
Andreas Mueller
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and la…
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
Andreas Mueller, Shivesh Kumar, Thomas Kordik
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics s…
Closed Form Time Derivatives of the Equations of Motion of Rigid Body Systems
Andreas Mueller, Shivesh Kumar
Derivatives of equations of motion(EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in de…