2 papers
cs.RO2019
Passivity guaranteed stiffness control with multiple frequency band specifications for a cable-driven series elastic actuator
Ningbo Yu, Wulin Zou, Yubo Sun
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety…
cs.RO2018
Real-time force control of an SEA-based body weight support unit with the 2-DOF control structure
Yubo Sun, Yuqi Lei, Wulin Zou +2
Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with…