13 citations · 14 across the 2 of their papers we have counts for
6 papers
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
Binghan He, Huang Huang, Gray C. Thomas +1
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amp…
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
Binghan He, Jaemin Lee, Ufuk Topcu +1
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for…
Adaptive Compliance Shaping with Human Impedance Estimation
Huang Huang, Henry F. Cappel, Gray C. Thomas +2
Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few a…
Robust Estimator-Based Safety Verification: A Vector Norm Approach
Binghan He, Gray C. Thomas, Luis Sentis
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose…
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
Binghan He, Huang Huang, Gray C. Thomas +1
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the huma…
Decentralized Control Systems Laboratory Using Human Centered Robotic Actuators
Binghan He, Kunye Chen, Rachel Schlossman +5
University laboratories deliver unique hands-on experimentation for STEM students but often lack state-of-the-art equipment and provide limited access to their equipment. The Unive…