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09/01/2023
Shared Control Based on Extended Lipschitz Analysis With Application to Human-Superlimb Collaboration
This paper presents a quantitative method to construct voluntary manual ...
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06/08/2023
A Data-Driven Approach to Positioning Grab Bars in the Sagittal Plane for Elderly Persons
The placement of grab bars for elderly users is based largely on ADA bui...
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05/04/2023
Language Control in Robotics
For robots performing a assistive tasks for the humans, it is crucial to...
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03/05/2023
An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator
Although telepresence assistive robots have made significant progress, t...
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10/24/2022
Learned Lifted Linearization Applied to Unstable Dynamic Systems Enabled by Koopman Direct Encoding
This paper presents a Koopman lifting linearization method that is appli...
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05/30/2022
A practical optimal control approach for two-speed actuators
This paper addresses the closed-loop control of an actuator with both a ...
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05/30/2022
A Fast Gear-Shifting Actuator for Robotic Tasks with Contacts
Vehicle power-trains use a variable transmission (multiple gear-ratios) ...
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10/14/2021
Monitoring the Mental State of Cooperativeness for Guiding an Elderly Person in Sit-to-Stand Assistance
In providing physical assistance to elderly people, ensuring cooperative...
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07/29/2021
Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance
Supernumerary Robotics Device (SRD) is an ideal solution to provide robo...
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07/09/2021
Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators
A lifting-linearization method based on the Koopman operator and Dual Fa...
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04/05/2021
Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation
Effective and causal observable functions for low-order lifting lineariz...
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07/02/2020
Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a ...
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07/02/2020
Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs
A new approach to the human-robot shared control of the Extra Robotic Le...
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07/02/2020
Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution
We present the design of a new robotic human augmentation system that wi...
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07/02/2020
Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly
A new type of parallel robot mechanism with an extendable structure is p...
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07/02/2020
