4 accepted papers
Human gait patterns have been intensively studied, both from medical and engineering perspectives, to understand and compensate pathologies. However, the muscle-force sharing problem is still debated as acquiring individual muscle force measurements is challenging, requiring the use of invasive devi
Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into account the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stif
The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their intrinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input-state observer based on a nominal robot m
This letter addresses the stiffness estimation problem for flexible robot joints, driven by variable stiffness actuators in antagonistic setups. Due to the difficulties of achieving consistent production of these actuators and the time-varying nature of their internal flexible elements, which are su