Hamidreza Heidari

Robust Friction Estimation for an Active Upper-Limb Exoskeleton Via SOSML Observer

Friction in compact, geared actuators remains a primary barrier to transparency in upper-limb exoskeletons, especially near zero velocity and during frequent reversals. A momentum-based estimation framework is developed and evaluated on a two-DoF active device (modified EDUExo), where joint friction…