1 citations · 1 across the 6 of their papers we have counts for
7 papers
Targeted Muscle Effort Distribution with Exercise Robots: Trajectory and Resistance Effects
Humberto De las Casas, Santino Bianco, Hanz Richter
The objective of this work is to relate muscle effort distributions to the trajectory and resistance settings of a robotic exercise and rehabilitation machine. Muscular effort dist…
An Overview of Energy-Optimal Impedance Control of Cooperative Robot Manipulators
Amin Ghorbanpour, Hanz Richter
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired…
Real-Time Trajectory Optimization in Robot-Assisted Exercise and Rehabilitation
Humberto De las Casas, Nicholas Chambers, Hanz Richter +1
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recru…
Motion Optimization for Musculoskeletal Dynamics: A Flatness-Based Polynomial Approach
Hanz Richter, Holly Warner
A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model drive…
Backstepping Control of Muscle Driven Systems with Redundancy Resolution
Humberto De las Casas, Hanz Richter
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advan…
Trajectory Optimization of Robots with Regenerative Drive Systems: Numerical and Experimental Results
Poya Khalaf, Hanz Richter
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is consider…
State Estimation For An Agonistic-Antagonistic Muscle System
Thang Nguyen, Holly Warner, Hung La +3
Research on assistive technology, rehabilitation, and prosthesis requires the understanding of human machine interaction, in which human muscular properties play a pivotal role. Th…