3 accepted papers
In this letter, we propose an Acceleration Measurement-Free Dissipative Disturbance Observer (AFDDO) for robotic manipulators, designed to estimate external disturbances robustly without requiring angular acceleration measurements and matrix inversion. By leveraging dissipativity theory, the AFDDO a
Numerous attempts have been made to reduce metabolic energy while running with the help of assistive devices. A majority of studies on the assistive devices have focused on the assisting torque in the sagittal plane. In the case of running, however, the abduction torque in the frontal plane at the h…
The rotation axis of human knee joint varies according to knee flexion angles. That is, human knee movement is spatial with dominant flexional rotation. Knee joints of most lower-limb exoskeletons were, however, realized with a simple revolute pair for design simplicity. Wearing the knee joint with…