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Author

Changlong Ye

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Conference Aug 2026

Sensorless External Force Estimation for Robotic Arms via a Confidence-Aware Soft-Switching Hybrid Filter

Accurate and robust external force perception is a fundamental prerequisite for safe physical human-robot interaction in complex dynamic environments. While sensorless force estimation utilizing generalized momentum circumvents the spatial and economic constraints of dedicated hardware, existing single-model filtering...

Yi-Fan Ding, Chang-Long Ye, Cheng Shen et al. · 0 citations
Open access Aug 2026

Reinforcement Learning-Based Interactive Control of an Omnidirectional Mobile Lower Limb Rehabilitation Robot

The findings indicate that integrating reinforcement learning with Sigmoid parameter adaptation provides a systematic and effective solution for adaptive compliance regulation in mobile exoskeleton systems, enhancing adaptability, safety, and functional relevance for stroke patients undergoing lower limb rehabilitation...

Su-Yang Yu, Yangqing Yu, Chang-Long Ye · 0 citations

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