Shuaishuai Han — accepted AI-conference papers

2025

Toward Accurate and Robust Unloading Force Rendering via a Series Elastic Actuator-Driven Body Weight Support System

Jiale Liang, Xiaoyu Wu, Shuaishuai Han, Haoyong Yu

RA-L 2025

Body weight support (BWS) systems are extensively utilized in rehabilitation robots to deliver sophisticated unloading force (i.e., vertical interaction force) for gravity and impedance compensation. The robust and accurate unloading force rendering is critical for gait training. In this letter, a c

Cited by 0 Source ↗Scholar ↗

2021

Nonlinear Disturbance Observer-based Robust Motion Control for Multi-joint Series Elastic Actuator-driven Robots

Shuaishuai Han, Haoping Wang, Haoyong Yu

ICRA 2021poster

Motion control of multi-joint Series Elastic Actuator (SEA)-driven robots still faces challenges including intrinsic oscillatory dynamics, high-order robotic dynamics, low-bandwidth inner loop, and dynamic nonlinearities. In this letter, a nonlinear disturbance observer (NDOB)-based robust controlle…

Cited by 7 Source ↗Scholar ↗