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12/01/2021
A Barrier Pair Method for Safe Human-Robot Shared Autonomy
Shared autonomy provides a framework where a human and an automated syst...
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09/25/2020
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
The natural impedance, or dynamic relationship between force and motion,...
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09/05/2020
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
For a nonlinear system (e.g. a robot) with its continuous state space tr...
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03/02/2019
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
Human joint dynamic stiffness plays an important role in the stability o...
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03/29/2018