4 accepted papers
This letter presents a user-adaptive variable damping controller that enhances the overall performance of coupled human-robot systems in terms of stability, agility, user effort, and energy expenditure during physical human-robot interaction. The controller accounts for impedance properties of the h
This paper presents an experimental study that investigated how humans interact with viscous, damping-defined mechanical environments and quantified the lower bounds of robotic damping that they can stably interact with. Human subjects performed posture maintenance tasks for different arm postures w…
This paper presents an experimental study to investigate how humans interact with a robotic arm simulating primarily unstable, damping-defined, mechanical environments, and to quantify lower bounds of robotic damping that humans can stably interact with. Human subjects performed posture maintenance…
This paper presents a variable damping controller to improve the trade-off between agility and stability in physical human-robot interaction (pHRI), while reducing user effort. Variable robotic damping, defined as a dual-sided logistic function, was determined in real time throughout a range of nega…