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Developments in hardware systems of active upper-limb exoskeleton robots: A review
The very first application of active exoskeleton robot was to provide external power to a
soldier so that he can carry additional weight than his strength. Since then this technology …
soldier so that he can carry additional weight than his strength. Since then this technology …
Collaborative robotics: a survey
Collaborative robotics is an umbrella term that conveys the general idea of proximity
between machines and humans for some useful tasks in a shared space, with a range of …
between machines and humans for some useful tasks in a shared space, with a range of …
An upper-body rehabilitation exoskeleton Harmony with an anatomical shoulder mechanism: Design, modeling, control, and performance evaluation
We present an upper-body exoskeleton for rehabilitation, called Harmony, that provides
natural coordinated motions on the shoulder with a wide range of motion, and force and …
natural coordinated motions on the shoulder with a wide range of motion, and force and …
Human–robot interaction control of rehabilitation robots with series elastic actuators
Rehabilitation robots, by necessity, have direct physical interaction with humans. Physical
interaction affects the controlled variables and may even cause system instability. Thus …
interaction affects the controlled variables and may even cause system instability. Thus …
High-precision robust force control of a series elastic actuator
A series elastic actuator (SEA) is a promising actuation method in force control applications
that intelligently interacts with environments. The SEA is characterized by a spring placed …
that intelligently interacts with environments. The SEA is characterized by a spring placed …
A review of algorithms for compliant control of stiff and fixed-compliance robots
This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …
view of past and present literature. Compliant control is fundamental when dealing with …
Design and control considerations for high-performance series elastic actuators
This paper discusses design and control of a prismatic series elastic actuator with high
mechanical power output in a small and lightweight form factor. A design is introduced that …
mechanical power output in a small and lightweight form factor. A design is introduced that …
Actuator control for the NASA‐JSC valkyrie humanoid robot: A decoupled dynamics approach for torque control of series elastic robots
This paper discusses the actuator‐level control of Valkyrie, a new humanoid robot designed
by NASA's Johnson Space Center in collaboration with several external partners. Several …
by NASA's Johnson Space Center in collaboration with several external partners. Several …
A compact rotary series elastic actuator for human assistive systems
Precise and large torque generation, back drivability, low output impedance, and
compactness of hardware are important requirements for human assistive robots. In this …
compactness of hardware are important requirements for human assistive robots. In this …
Toward improving actuation transparency and safety of a hip exoskeleton with a novel nonlinear series elastic actuator
Actuation transparency and safety are important requirements in the design and control of
assistive exoskeletons for individuals who suffer lower limb deficits but still maintain a …
assistive exoskeletons for individuals who suffer lower limb deficits but still maintain a …