2021
Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot
RA-L 2021
This letter introduces a variable impedance controller which dynamically modulates both its damping and stiffness to improve the trade-off between stability and agility in coupled human-robot systems and reduce the human user's effort. The controller applies a range of robotic damping from negative