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
Physical human-robot interaction requires yielding transiently to contact yet recovering the commanded reference under sustained load. Finite-stiffness impedance control retains a…