Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons

30 Apr 2020 He Binghan Huang Huang Thomas Gray C. Sentis Luis

Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness... (read more)

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  • ROBOTICS