6 accepted papers
A flexible surgical robot that can adjust its stiffness guarantees safe operation by satisfying both the high flexibility required when the robot approaches a surgical target and the more stiffness necessary for the end effector to perform surgical procedures. Therefore, this paper proposes a flexib
Compliance in robot actuation provides a solution to perform safe physical human-robot interaction. Conventional compliant actuators (variable stiffness actuators, series elastic actuators) used more than two motors or closed-loop controller to modulate both stiffness and equilibrium position indepe…
Despite the rapid advances in soft robotic actuation technologies, the main energy source that powers most wearable systems remains the conventional tethered stationary air compressor that greatly limits these systems' applicability. Several portable pneumatic energy sources have been introduced; ho
The closer distance between robots and human partners in the same space makes compliant robots essential in these days. While torque sensor based impedance control scheme suffers from insufficient bandwidth, musculoskeletal systems can achieve similar ability with smaller resources by using mechanic…
Inspired from Hogan's myoelectric processor in 1980, this study presents a stochastic sEMG processing method to estimate the muscle activation level for manipulator control. Hogan's previous study showed the feasibility to estimate the muscle activation level with multi-channel sEMG under static for…
The stabilization of man-made artificial systems has been achieved by sensor based state feedback control with high computational bandwidth and high stiffness structures. In contrast, many biological systems have been achieved similar or superior stable behavior with low speed signal transmission vi…