21 citations · 25 across the 7 of their papers we have counts for
7 papers
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…
An Improved Wrist Kinematic Model for Human-Robot Interaction
Ningbo Yu, Chang Xu
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous…
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…