232 citations · 277 across the 30 of their papers we have counts for
3 papers · 1 filter
Balancing Safety and Optimality in Robot Path Planning: Algorithm and Metric
Jatin Kumar Arora, Soutrik Bandyopadhyay, Sunil Sulania +1
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we…
Modeling and parametric optimization of 3D tendon-sheath actuator system for upper limb soft exosuit
Amit Yadav, Nitesh Kumar, Shaurya Surana +7
This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilit…
Adaptive Gravity Compensation Control of a Cable-Driven Upper-Arm Soft Exosuit
Joyjit Mukherjee, Ankit Chatterjee, Shreeshan Jena +4
This paper proposes an adaptive gravity compensation (AGC) control strategy for a cable-driven upper-limb exosuit intended to assist the wearer with lifting tasks. Unlike most mode…