Kyung-Lyong Han

Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and en