5 accepted papers
In the context of physical human-(tele)robot interaction, passivity-based stabilizers have been used to guarantee the physical or (tele) physical stability. In most of these examples, human biomechanics is considered an inherently passive system that dissipates energy. This assumption may not hold t…
The human arm has an intrinsic capacity to absorb energy during physical human-robot interaction (pHRI), which can be identified as biomechanical excess of passivity (EoP). This can be used as a central factor in the development of passivity-based pHRI controllers securing haptic transparency while
The human limb possesses a remarkable capacity to absorb energy during physical human-robot interaction (pHRI), which can be quantified as the biomechanical “Excess of Passivity” (EoP) using non-linear control theory. This biome-chanical passivity index can be used to reduce conservatism and increas…
The intrinsic biomechanical characteristic of the human upper limb plays a central role in absorbing the interactive energy during physical human-robot interaction (pHRI). We have recently shown that based on the concept of “Excess of Passivity (EoP),” from nonlinear control theory, it is possible t…
Evidence suggests that the metabolic cost associated with the locomotive activity of walking is dependent upon ankle stiffness. This stiffness can be a control parameter in an ankle-foot prosthesis. Considering unique physical interaction between each individual with below-knee amputation and roboti…