14 citations · 62 across the 12 of their papers we have counts for
5 papers · 1 filter
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…
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…
Web Based Teleoperation of a Humanoid Robot
Chien Liang Fok, Fei Sun, Matt Mangum +3
The Cloud-based Advanced Robotics Laboratory (CARL) integrates a whole body controller and web-based teleoperation to enable any device with a web browser to access and control a h…