232 citations · 277 across the 30 of their papers we have counts for
6 papers · 1 filter
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…
Lagrangian-based online safe reinforcement learning for state-constrained systems
Soutrik Bandyopadhyay, Shubhendu Bhasin
This paper proposes a safe reinforcement learning (RL) algorithm that approximately solves the state-constrained optimal control problem for continuous-time uncertain nonlinear sys…
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…
Safe Q-learning for continuous-time linear systems
Soutrik Bandyopadhyay, Shubhendu Bhasin
Q-learning is a promising method for solving optimal control problems for uncertain systems without the explicit need for system identification. However, approaches for continuous-…
MRAC with Memory for Switched Linear Systems
Pritesh Patel, Sayan Basu Roy, Shubhendu Bhasin
This work proposes a switched model reference adaptive control (S-MRAC) architecture for a multi-input multi-output (MIMO) switched linear system with memory for enhanced learning.…
BiCurNet: Pre-Movement EEG based Neural Decoder for Biceps Curl Trajectory Estimation
Manali Saini, Anant Jain, Lalan Kumar +3
Kinematic parameter (KP) estimation from early electroencephalogram (EEG) signals is essential for positive augmentation using wearable robot. However, work related to early estima…