This paper proposes a finite-time multi-modal robotic control strategy for physical human–robot interaction. The proposed multi-modal controller consists of a modified super-twisting-based finite-time control term that is designed in each inter...
This paper proposes a safety-constrained interaction control scheme for robotic manipulators by integrating model predictive control (MPC) and active disturbance rejection control (ADRC). The proposed method is specifically designed for manipulators...
The German manufacturing industry has been carrying out new developments towards the next industrial revolution, focusing on smart manufacturing environments. Our work emphasizes human-centered control rooms in the context of production plants. Incre...
Bioinspired walking hexapod robots are a relatively young branch of robotics. Despite the high degree of flexibility and adaptability derived from their redundant design, open-source implementations do not fully utilize this potential. This paper pro...
In recent years, force control has become more important due to the physical interaction of robots with humans and applications of robots to complex environments. Impedance control is widely used in force control; however, it cannot reproduce the beh...
In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the go...
Fluid–structure interaction (FSI) systems consist of a fluid which flows and deforms one or more solid surrounding structures. In this paper, we study inverse FSI problems, where the goal is to find the optimal value of some control parameters,...
Restricted by the diversity and complexity of human behaviors, simulating a character to achieve human-level perception and motion control is still an active as well as a challenging area. We present a style-based teleoperation framework with the hel...
Maintaining prescribed joint motion while allowing for compliant responses to changing interaction is challenging in passive lower limb rehabilitation. We propose interaction error-driven adaptive admittance control (IE-AAC), which subtracts the pred...
Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid) approach has the potential to provide a s...
The study of human–machine interaction as a unique control system was one of the first research interests in the engineering field, with almost a century having passed since the first works appeared in this area. At the same time, it is a cruci...
For individuals with movement impairments due to neurological injuries, rehabilitative therapies such as functional electrical stimulation (FES) and rehabilitation robots hold vast potential to improve their mobility and activities of daily living. C...
Intuitive and comfortable physical human–robot interaction (pHRI) can be realized by changing impedance/admittance parameters corresponding to human interaction. However, this dynamic adjustment may result in drastically changed system dynamics...
Soft robots present an avenue toward unprecedented societal acceptance, utility in populated environments, and direct interaction with humans. However, the compliance that makes them attractive also makes soft robots difficult to control. We present...
In robotic teleoperation, the simultaneous realization of rapid tracking, compliance, and safe interaction presents a fundamental control challenge. This challenge stems from a critical trade-off: high-stiffness controllers achieve rapid tracking but...
This paper presents a mathematical formalization of human–computer interaction under a zero-distance constraint, introducing a degenerate formulation of Fitts’s Law. In classical models, movement time depends logarithmically on spatial di...
Upper-limb rehabilitation robots should provide adaptive assistance while avoiding excessive robotic intervention when users can contribute to movement. A key challenge is that measured interaction forces contain both voluntary and passive mechanical...
Sub-synchronous control interaction (SSCI) is an oscillation phenomenon caused by the interaction of converter control and series-compensated transmission line. This paper proposes a novel adaptive higher-order sliding mode (AHOSM) control strategy f...
Human–robot interaction (HRI) is a broad research topic, which is defined as understanding, designing, developing, and evaluating the robotic system to be used with or by humans. This paper presents a survey on the control, safety, and perspect...
In order to achieve effective physical human–robot interaction, human dynamic characteristics needs to be considered in admittance control. This paper proposes a variable admittance control method for physical human–robot interaction based on traject...
Bio-inspired engineering draws on principles refined by natural evolution to tackle persistent challenges in fluid mechanics, structural dynamics, and thermal transport. This article presents a critical, mechanism-driven narrative review that integra...
Seismic behavior of tall buildings depends upon the dynamic characteristics of the structure, as well as the base soil properties. To consider these factors, the equations of motion for a multi-story 3D building are developed to include irregularity...
A large part of everyday communication is mediated by technology, with a constantly growing number of choices. Accordingly, how people choose between different communication media is a long-standing research question. However, while prominent media t...
In the context of Industry 5.0, human–robot collaboration increasingly demands intuitive, safe, and sensorless interaction for tasks such as hand-guided teaching and concurrent manipulation. However, conventional admittance control systems are...
Nowadays, robotic technology for gait training is becoming a common tool in rehabilitation hospitals. However, its effectiveness is still controversial. Traditional control strategies do not adequately integrate human intention and interaction and li...
Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because of mobility difficulty every year. Strength training is an effective method to improve lower extremit...
Multi-terminal Direct Current Transmission (MTDC) is an emerging and promising technology for the transmission of electricity and the main initiator of the development of MTDC grids is offshore wind generation. However, prior to their construction, a...
Kinesthetic interaction is an important interaction method for virtual reality. Current kinesthetic interaction using a grounded force-feedback device, however, is still considered difficult and time-consuming because of the interaction difficulty in...
To deal with the astronaut’s motion intention, as well as uncertainties in robotic dynamics, a human–spacesuit interaction (HSI) model is presented for the development of a joint-assisted exoskeleton robot in an active spacesuit using ada...
Because the strategy of stopping bus lines during an epidemic can negatively impact residents, this study proposes a bus passenger flow control model to optimize the safety of and access to bus transport. The information interaction environment can p...
We present a neuroadaptive control framework applied to a tactile sensing interface for real-time, human-guided physical interaction with a robotic arm. The framework employs a dual-loop architecture consisting of an inner-loop neuroadaptive controll...
With the rapid development of Internet of Things (IoT) technology, the formation control of unmanned surface vehicles (USVs) has attracted increasing attention in marine applications. However, in practical marine missions, the implementation of affin...
This study was designed to explore the control effect of pulsed arc discharge plasma actuation on the incident shock wave/boundary layer interaction (ISWBLI). Research was conducted on an ISWBLI flow field with 10 kHz single-channel pulsed arc discha...
The multi-infeed interaction factor (MIIF) is used extensively in indicating the degree of interaction among high-voltage direct current (HVDC) converters and is currently calculated by simulation methods according to the definition, or by using the...
Time-varying interaction loads and uncertain actuator dynamics complicate isokinetic velocity regulation. This study evaluates a hierarchical controller combining nominal compensation, measured-load feedforward, posture-aware radial basis function (R...
Traditional wheelchairs are unable to actively sense the external environment during use and have a single control method. Therefore, this paper develops an intelligent IoT wheelchair with the three functions, as follows. (1) Occupant-wheelchair-envi...
Integration of wind energy resources into the grid creates several challenges for power system dynamics. More specifically, Type-3 wind turbines are susceptible to subsynchronous control interactions (SSCIs) when they become radially connected to a s...
Using personal smart devices such as mobile phones to perform precise distal pointing in intelligent cockpits is a developing trend. The present study investigated the effects of different control display gains (CD gains) and wrist movement modalitie...
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Testing assumptions of the widely used demand–control (DC) model in occupational psychosocial epidemiology, we investigated (a) interaction, i.e., whether the combined effect of low job control and high psychological demands on depressive symptoms wa...
A shock wave/boundary layer interaction (SWBLI) is a common phenomenon in supersonic inlet flow, which can significantly degrade the aerodynamic performance of the inlet by inducing boundary layer separation. To address this issue, in this paper, we...
This review paper investigates the current state of research on structure-to-human interaction (S2HI) in the monitoring and control of cyclo-pedestrian footbridges, focusing specifically on the biodynamic effects of oscillations on pedestrians. Its a...
CSR has become a key issue for the qualitative growth of the Chinese economy, while digital transformation has emerged as a crucial strategy for enhancing company competitiveness. Thus, the complex impact of CSR and digital transformation on the firm...
Initial attitude calibration is a critical yet challenging phase in hardware-in-the-loop (HIL) testing for space docking, often hindered by cumbersome procedures, safety concerns, and reliance on external equipment. This paper introduces a human&ndas...
Laver fluffy is an indispensable link in the processing of laver products. After fluffing, the laver acquires an appealing color, which is conducive to better marketability. During the primary mechanical processing of laver, a valve capable of rapid...
The components in traditional human–machine interaction (HMI) systems are relatively independent, distributed and low-integrated, and the wearing experience is poor when the system adopts wearable electronics for intelligent control. The continuous a...
Compression corner shock wave/boundary layer interaction (SWBLI) is a typical shock wave/boundary layer interaction (SWBLI) problem in supersonic/hypersonic flows. In previous studies, the separation flow is usually caused by a single shock wave. How...
The increasing penetration of wind power in the grid has driven the integration of wind farms with power systems that are series-compensated to enhance power transfer capability and dynamic stability. This may lead to sub-synchronous control interact...
Fluid-structure interaction (FSI) problems are of great interest, due to their applicability in science and engineering. However, the coupling between large fluid domains and small moving solid walls presents numerous numerical difficulties and, in s...
A collaborative robot should be sensitive to the user intention while maintaining safe interaction during tasks such as hand guiding. Observers based on the discrete Fourier transform have been studied to distinguish between the low-frequency motion...
Background/Objectives: Intervertebral disc degeneration (IDD) is a multifactorial spinal degenerative condition influenced by inherited susceptibility and environmental exposures. Genetic evidence from Chinese Han populations remains limited. This st...
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