7 papers
Behavior--Realization Separation for Constrained Physical Human--Robot Interaction
Yongyan Cao
Physical human--robot interaction software often couples desired-behavior specification with constrained realization; we treat these as separate layers. A \emph{behavior layer} sup…
Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue
Yongyan Cao, Xiaobo Li
Flexible neural electrode threads must be placed at a prescribed depth while the cortical surface moves with cardiac and respiratory pulsation. A controller tracking a fixed point…
Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction
Yongyan Cao
Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a planned motion, remain compliant against moving tissue, reject friction an…
Interaction Dynamics for Dexterous Manipulation
Yongyan Cao
Dexterous manipulation is fundamentally a problem of interaction dynamics: the hand must track precise finger trajectories, regulate the contact force exchanged with grasped object…
Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction
Yongyan Cao
Safe physical human--robot interaction on floating-base robots requires interaction regulation under changing contact constraints. We develop a contact-consistent normalization in…
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…