44 citations · 67 across the 7 of their papers we have counts for
7 papers
Generalized Multi-kernel Maximum Correntropy Kalman Filter for Disturbance Estimation
Shilei Li, Dawei Shi, Yunjiang Lou +2
Disturbance observers have been attracting continuing research efforts and are widely used in many applications. Among them, the Kalman filter-based disturbance observer is an attr…
Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction
Wulin Zou, Pu Duan, Yawen Chen +2
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variabl…
Passivity guaranteed stiffness control with multiple frequency band specifications for a cable-driven series elastic actuator
Ningbo Yu, Wulin Zou, Yubo Sun
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety…
Impedance control of a cable-driven SEA with mixed synthesis
Ningbo Yu, Wulin Zou
Purpose: This paper presents an impedance control method with mixed synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for phys…
Real-time force control of an SEA-based body weight support unit with the 2-DOF control structure
Yubo Sun, Yuqi Lei, Wulin Zou +2
Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with…
Modeling and control of a cable-driven series elastic actuator
Wulin Zou, Ningbo Yu
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cab…
Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure
Wulin Zou, Zhuo Yang, Wen Tan +3
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible…