Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton
Yves Zimmermann,Emek Barış Küçüktabak,Farbod Farshidian,Robert Riener,Marco Hutter,Yves Zimmermann,Emek Barış Küçüktabak,Farbod Farshidian,Robert Riener,Marco Hutter
A high-quality free-motion rendering is one of the most vital traits to achieve an immersive human-robot interaction. Rendering free-motion is notably challenging for rehabilitation exoskeletons due to their relatively high weight and powerful actuators required for strength training and support. In the presence of dynamic human movements, accurate feedback linearization of the robot's dynamics is...
