Browsing by Author "Teramae, T."
Now showing items 1-3 of 3
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Human-in-the-loop control and task learning for pneumatically actuated muscle based robots
Teramae, T.; Ishihara, K.; Babič, J.; Morimoto, J.; Öztop, Erhan (Frontiers Media, 2018-11-06)Pneumatically actuated muscles (PAMs) provide a low cost, lightweight, and high power-To-weight ratio solution for many robotic applications. In addition, the antagonist pair configuration for robotic arms make it open to ... -
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
Doppmann, C.; Uğurlu, Barkan; Hamaya, M.; Teramae, T.; Noda, T.; Morimoto, J. (IEEE, 2015)This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ... -
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
Uğurlu, Barkan; Doppmann, C.; Hamaya, M.; Forni, P.; Teramae, T.; Noda, T.; Morimoto, J. (IEEE, 2016-02)This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
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