Vincent Crocher — accepted AI-conference papers

2019

Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics

Gijo Sebastian, Zeyu Li, Vincent Crocher, Demy Kremers, Ying Tan, Denny Oetomo

RA-L 2019

This letter presents a force observer that estimates the external interaction forces from the measured joint position and joint actuation for a class of robotic manipulators. This is done without an explicit (physical) force or torque sensor, through an extended state observer (ESO) assuming a known

Cited by 56 Source ↗Scholar ↗

2018

Upper Limb Deweighting Using Underactuated End-Effector-Based Backdrivable Manipulanda

Vincent Crocher, Justin Fong, Teun Jan Bosch, Ying Tan, Iven Mareels, Denny Oetomo

RA-L 2018

In rehabilitation for neurological injuries, gravity compensation or deweighting of the upper limb is often performed, as it allows patients with limited muscle activities to realize movements. Deweighting cancels the gravitational effect of the human arm allowing the available muscle forces to prod

Cited by 12 Source ↗Scholar ↗