Yalei Feng

A Novel Hybrid Hysteresis Modeling Method for Multiloop-Asymmetry Hysteresis Behavior of Nonlinear Compliant Actuators

Nonlinear compliant actuators are being increasingly used in human-robot interaction scenarios due to their inherent flexibility. However, a limitation is that nonlinear hysteresis exists, which will degrade the force/torque tracking performance if the hysteresis is not modeled accurately. Moreover,