16 citations · 116 across the 50 of their papers we have counts for
4 papers · 1 filter
Physical Human-Robot Interaction Control of an Upper Limb Exoskeleton with a Decentralized Neuro-Adaptive Control Scheme
Mahdi Hejrati, Jouni Mattila
Within the concept of physical human-robot interaction (pHRI), the most important criterion is the safety of the human operator interacting with a high degree of freedom (DoF) robo…
Decentralized Nonlinear Control of Redundant Upper Limb Exoskeleton with Natural Adaptation Law
Mahdi Hejrati, Jouni Mattila
The aim of this work is to utilize an adaptive decentralized control method called virtual decomposition control (VDC) to control the orientation and position of the end-effector o…
A Global Asymptotic Convergent Observer for SLAM
Seyed Hamed Hashemi, Jouni Mattila
This paper examines the global convergence problem of SLAM algorithms, an issue that faces topological obstructions. This is because the state-space of attitude dynamics is defined…
Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces
Goran R. Petrović, Jouni Mattila
When a mobile manipulator's wheel loses contact with the ground, tipping-over may occur, causing material damage, and in the worst case, it can put human lives in danger. The tip-o…