3 accepted papers
Inertial measurement units (IMUs), composed of gyroscopes, accelerometers, and magnetometers, have been widely used in the fields of human motion animation, rehabilitation, robotics, and aerospace. However, their performances degenerate remarkably with external acceleration and magnetic disturbance.
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain constraints. Firstly, to reduce conservativeness, we characte…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However, there are still challenges for the impedance control of cabl…