Hamed Jabbari Asl

2 accepted papers

2018

An Assist-as-Needed Velocity Field Control Scheme for Rehabilitation Robots

Hamed Jabbari Asl, Tatsuo Narikiyo, Michihiro Kawanishi

IROS 2018poster

This paper addresses the problem of assist-as-needed (AAN) control for rehabilitation robots. To achieve a motion which is not explicitly a function of time, the velocity field control is considered in this paper. The proposed new controller consists of a proportional-like feedback term and a neural…

Cited by 31 Source ↗Scholar ↗

2018

An Intelligent Control Scheme to Facilitate Abrupt Stopping on Self-Adjustable Treadmills

Hamed Jabbari Asl, Sang-Hun Pyo, Jungwon Yoon

ICRA 2018poster

The control problem in self-adjustable treadmills is to keep the position of the user at a reference position. The position error is the key obstacle in facilitating the abrupt stopping on self-adjustable treadmills. Another difficulty in this application is the oscillatory response of the closed-lo…

Cited by 13 Source ↗Scholar ↗