14 citations · 62 across the 12 of their papers we have counts for
3 papers · 1 filter
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…
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…
Safety Control Synthesis with Input Limits: a Hybrid Approach
Gray C. Thomas, Binghan He, Luis Sentis
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent…