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
Steerable catheters are the primary tool for cardiac electrophysiology (EP) procedures including radiofrequency ablation, where the tip must be positioned precisely at target tissu…
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…
Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction
Yongyan Cao, Jinshan Tang
Physical human-robot interaction requires yielding transiently to contact yet recovering the commanded reference under sustained load. Finite-stiffness impedance control retains a…