9 accepted papers
The foreign objects on utility poles may damage power lines and cause significant disruptions in electricity supply. A widely used approach to address this issue is for qualified personnel to climb on the pole and remove the foreign objects in a timely manner using an insulating tube. However, prolo
Predicting the kinematics of bending pneumatic muscles (BPMs) remains challenging due to the necessity for models that effectively address the pronounced hysteresis and creep inherent in soft materials. While prior research has predominantly focused on phenomenological and data-driven modeling appro…
Assist-as-needed (AAN) strategies aim to enhance active participation, thereby promoting neuroplasticity and facilitating motor recovery. However, due to variations in injury severity and motor abilities, non-adaptive AAN control strategies may provide suboptimal assistance. This letter proposes a t
Predicting the kinematics of bending pneumatic muscles (BPMs) remains challenging due to the necessity for models that effectively address the pronounced hysteresis and creep inherent in soft materials. While prior research has predominantly focused on phenomenological and data-driven modeling appro
The rapid development of collaborative robotics has provided a new possibility of helping the elderly who has difficulties in daily life, allowing robots to operate according to specific intentions. However, efficient human-robot cooperation requires natural, accurate and reliable intention recognit
The challenge of achieving precise control of soft actuators with strong nonlinearity is mainly due to the difficulty of deriving models suitable for model-based control techniques. Fortunately, Koopman operator provides a data-driven method for constructing control-oriented models of nonlinear syst
This paper developed a 4-degree-of-freedom cable-driven upper limb rehabilitation robot and proposed a control algorithm of the passive training for this robot. Comparing with the conventional cable-driven rehabilitation robot, the workspace of this robot is increased by optimizing the distribution…
The brain-machine interface (BMI) has been reported to offer the potential for controlling the assistive robot for the motor impaired people, using the non-invasively obtained electroencephalogram (EEG) signals. However, the EEG based BMI may not be sufficient and stable to drive the robot moving fr…