5 accepted papers
The beneficial aspects of fully-actuated multirotor UAVs, provided by nonparallel rotor configuration, are increasingly being recognized and utilized to great benefit in high-precision applications. Full six-degree-of-freedom force control, higher control bandwidth and improved disturbance rejection…
The directional mechanical impedance of the human ankle was identified from subjects in a standing posture with varying levels of muscle activity. The impedance modeled the different torque responses to angle perturbations about different axes of rotation. This work proposed a novel impedance model…
Inspection for structural properties (surface stiffness and coefficient of restitution) is crucial for understanding and performing aerial manipulations in unknown environments, with little to no prior knowledge on their state. Inspection-on-the-fly is the uncanny ability of humans to infer states d…
In this paper we combine Gaussian process regression and impedance control, to illicit robust, anthropomorphic, adaptive control of a powered ankle prosthesis. We learn the non-linear manifolds which guide how locomotion variables temporally evolve, and regress that surface over a velocity range to…
This paper, for the first time, describes the estimation of the time-varying impedance of the human ankle in the sagittal (SP) and frontal (FP) planes during the stance phase of walking. The result of this work is aimed to provide design parameters for the development of 2-DOF powered ankle-foot pro…