2 papers
eess.SY2026
Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Closed-Loop SEA Outer-Loop Study
Yongyan Cao, Jinshan Tang
Safe rehabilitation is an interaction-dynamics problem: the controller must regulate a prescribed motion while absorbing involuntary spasm, voluntary effort, actuator compliance, a…
cs.RO2026
Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction
Yongyan Cao, Jinshan Tang
Safe physical human-robot interaction (pHRI) is fundamentally a problem of interaction dynamics: the robot must track a commanded motion, yield under human forces, respect actuator…