Yana Shu — accepted AI-conference papers

2023

Multi-Modal Learning and Relaxation of Physical Conflict for an Exoskeleton Robot with Proprioceptive Perception

Xuan Zhang, Yana Shu, Yu Chen, Gong Chen, Jing Ye, Xiu Li +1

ICRA 2023poster

Exoskeleton robots provide assistive forces to suit the human subject via physical human-robot interaction. During the closely-coupled interaction, a mismatch between the wearer and the robot may result in physical conflict, which could affect assistance efficiency or even compromise safety. Therefo…

Cited by 5 Source ↗Scholar ↗

2023

Two-Stage Trajectory-Tracking Control of Cable-Driven Upper-Limb Exoskeleton Robots with Series Elastic Actuators: A Simple, Accurate, and Force-Sensorless Method

Yana Shu, Yu Chen, Xuan Zhang, Shisheng Zhang, Gong Chen, Jing Ye +1

IROS 2023poster

The advantages of cable-driven exoskeleton robots with series elastic actuators can be summarized in twofold: 1) the inertia of the robot joint is relatively low, which is more friendly for human-robot interaction; 2) the elastic element is tolerant to impacts and hence provides structural safety. A…

Cited by 1 Source ↗Scholar ↗