4 accepted papers
Despite extensive investigations into the multiuser haptic-enabled robotic system (M-Hers), achieving scalable control design in the presence of nonpassive human operators remains a key challenge. This is primarily due to the increasing complexity of stability conditions and interaction coupling as …
Accurately decoding human motion intentions from surface electromyography (sEMG) is essential for myoelectric control and has wide applications in rehabilitation robotics and assistive technologies. However, existing sEMG-based motion estimation methods often rely on subject-specific musculoskeletal
This letter investigates the repetitive range of motion (ROM) training control for a compliant ankle rehabilitation robot (CARR). The CARR utilizes four pneumatic muscle (PM) actuators to manipulate the ankle with three rational degree-of-freedoms (DoFs) and soft human-robot interaction, but the str
EMG-driven musculoskeletal model has been broadly used to detect human intention in rehabilitation robots. This approach computes muscle-tendon force and translates it to the joint kinematics. However, the muscle-tendon parameters of the musculoskeletal model are difficult to measure in vivo and var…