3 accepted papers
When walking robots and exoskeletons make multiple independent contacts, the inverse dynamics problem requires additional knowledge about the contact forces and moments. To avoid measuring the contact forces and moments, many inverse dynamics controllers for walking robots optimize an objective such
Accurate and reliable event prediction is imperative for supporting movement with an exoskeleton. Two events are important during a sit-to-stand movement: seat-off, the event at which the subject leaves the chair and start-of-assistance for hip and knee, the earliest time at which assistance may be
An increasing number of robotic systems are using compliant actuators in which springs are placed in series with the actuator. The need for identification procedures tailored to these systems is consequently rising. When measurements of both the link side and the motor side of the spring are availab…