2023
Markovian Transparency Control of an Exoskeleton Robot
Felix M. Escalante Ortega, Leonardo F. dos Santos, Jose Y. Moreno, Adriano A. G. Siqueira, Marco H. Terra, Thiago Boaventura
RA-L 2023
In wearable robotics, certain applications require the robot to be transparent, i.e., imperceptible to the user. This is a very difficult cooperative control task due to the inherent coupling between human and robot, unpredictable human movements, and user-dependent behavior. In this letter, we prop