Zhiping Dong — accepted AI-conference papers

2025

Compliant Variable Stiffness Actuator and Robust Interactive Torque Control: Principle Mechanism Design and Experimental Verification

Tianci Wang, Zhiping Dong, Rundong Huang, Chunhua Liu

RA-L 2025

The development of Variable Stiffness Actuators (VSAs) represents a promising approach for enhancing intrinsic safety in physical human-robot interaction. This study introduces an innovative VSA design employing an epicyclic-lever mechanism to modulate stiffness through spiral spring preload adjustm

Cited by 0 Source ↗Scholar ↗

2024

Development of Variable Transmission Series Elastic Actuator for Hip Exoskeletons

Tianci Wang, Hao Wen, Zaixin Song, Zhiping Dong, Chunhua Liu

ICRA 2024poster

Series Elastic Actuator-based exoskeleton can offer precise torque control and transparency when interacting with human wearers. Accurate control of SEA-produced torques ensures the wearer’s voluntary motion and supports the implementation of multiple assistive paradigms. In this paper, a novel vari…

Cited by 1 Source ↗Scholar ↗