2023
Nonlinear Subsystem-Based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-Rich Tasks
RA-L 2023
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, ensuring the stability of such robots in physical human-robot-environment interaction (pHREI) is crucial. Having a wide range of Z