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pro vyhledávání: '"Thomas, Gray C."'
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically modelled as a
Externí odkaz:
http://arxiv.org/abs/2009.12446
Akademický článek
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Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few are used to improve the performance of strength amplification controlle
Externí odkaz:
http://arxiv.org/abs/1910.12902
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This type of ba
Externí odkaz:
http://arxiv.org/abs/1910.02317
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness. This comple
Externí odkaz:
http://arxiv.org/abs/1903.00704
Akademický článek
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In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification rate, and
Externí odkaz:
http://arxiv.org/abs/1809.10560
Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal force sour
Externí odkaz:
http://arxiv.org/abs/1802.10190
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of the state
Externí odkaz:
http://arxiv.org/abs/1802.10188
Autor:
Thomas, Gray C., Sentis, Luis
Practical application of H[infinity] robust control relies on system identification of a valid model-set, described by a linear system in feedback with a stable norm-bounded uncertainty, which must explains all possible (or at least all previously me
Externí odkaz:
http://arxiv.org/abs/1802.07695