In this paper, we study the performance enhancement of tracking control for a class of
nonlinear systems with prescribed performance, by employing a novel pair of prescribed …

This article aims to design an assistive controller for physical Human-Robot Interaction
(pHRI) based on Dynamic Cooperative Game Theory (DCGT). In particular, a distributed …

The restriction of feasible motions of a manipulator link constrained to move through an entry
port is a common problem in minimally invasive surgery procedures. Additional spatial …

In this paper, we propose a novel safe, passive, and robust control law for mechanical
systems. The proposed approach addresses safety from a physical human-robot interaction …

Kinesthetic teaching allows the direct skill transfer from the human to the robot and has been
widely used to teach single arm tasks intuitively. In the bi-manual case, simultaneously …

The ability to rapidly and accurately estimate external forces applied to collaborative robots
is crucial for ensuring safe physical human‐robot interaction and minimizing injury risk from …

Kinesthetic teaching allows the direct skill transfer from the human to the robot through
physical human-robot interaction. However, it is heavily affected by the robot's dynamics and …

Retinal surgery requires enclosed spatial constraints to improve the safety and success of
the surgery. Herein, a shared control method is proposed for master–slave robot systems …

This paper proposes a control method to address the physical Human-Robot Interaction
(pHRI) challenge in the context of hierarchical tasks. A common approach to managing …

In this paper, we address the development of a robotic rehabilitation system for the upper
limbs based on collaborative end-effector solutions. The use of commercial collaborative …