This brief describes the assistance regulation controller (ARC), a nonlinear admittance
controller for powered orthoses (POs) and wearable robotics that simultaneously facilitates …

This paper introduces a simple and minimal admittance controller capable of rendering
small impedances. The proposed controller ensures stable human-robot interactions by …

This paper introduces a novel assistive device (AD) control strategy that provides intermittent
assistance and is capable of encouraging user effort during AD use. The assistance …

In teleoperation, a force feedback device is a medium to build a transparent interaction
environment between a human and a remote robotic arm. Using force feedback devices, the …

Methods To address the question, we propose an advanced RAN controller for a lightweight
(ie, 0.25 kg) and wearable hand exoskeleton (see Fig. 1 (A)). The RAN controller uses a …

This paper presents an overview of admittance control as a method of physical interaction
control between machines and humans. We present an admittance controller framework and …

Robotic devices can be leveraged to raise the abilities of humans to perform demanding and
complex tasks with less effort. Although the first priority of such human-robot interaction …

The regular admittance controller cannot be easily transferred to the physical human–robot
interaction scenario because of the dynamic stiffness of the human arm. The dynamic …

Soft robotics hold promise in the development of safe yet powered assistive wearable
devices for infants. Key to this is the development of closed-loop controllers that can help …

The present paper introduces a manipulator that is developed to combine safe and dynamic
interaction tasks. The system is built from lightweight carbon fiber links and novel high …