Shisheng Zhang

Two-Stage Trajectory-Tracking Control of Cable-Driven Upper-Limb Exoskeleton Robots with Series Elastic Actuators: A Simple, Accurate, and Force-Sensorless Method

The advantages of cable-driven exoskeleton robots with series elastic actuators can be summarized in twofold: 1) the inertia of the robot joint is relatively low, which is more friendly for human-robot interaction; 2) the elastic element is tolerant to impacts and hence provides structural safety. A…