14 citations · 62 across the 12 of their papers we have counts for
4 papers · 1 filter
Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs
Binghan He, Takashi Tanaka
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIM…
Barrier Pairs for Safety Control of Uncertain Output Feedback Systems
Binghan He, Takashi Tanaka
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems,…
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…
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation
Binghan He, Gray C. Thomas, Nicholas Paine +1
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an a…