This paper presents a Koopman-based data-driven kinematic modelling and tracking control framework for a 7-DOF manipulator. State and squared-state lifting functions map the nonlinear forward kinematics into a linear lifted space, where system matrices are identified via ordinary least squares and stabilised by scaling...
Ye Xing, Shuai-Shi Liu, Chang-Lin Yu et al.· 2026 6th International Confe...· 0 citations
Continuous joint angle prediction from surface electromyography (sEMG) is a core task in upper-limb motion intent decoding for prosthetics, human-robot interaction, and rehabilitation. Speed variation in natural movement causes sEMG amplitude, frequency content, and temporal activation duration to shift systematically,...
Kai Yang, Ke-Ping Liu, Zhong-Bo Sun et al.· 2026 6th International Confe...· 0 citations
Upper limb rehabilitation robots enable precise and repetitive joint-specific training and have become an important approach for post-stroke motor function recovery. To address the rehabilitation needs of stroke patients, this paper develops a 4-degree-of-freedom (DOF) cable-driven upper limb rehabilitation robot, esta...
Yong-Bai Liu, Gang-Yi Wang, Zhong-Bo Sun et al.· 2026 6th International Confe...· 0 citations
In response to the requirements for high-precision motion control and adaptive compliance in rehabilitation training and human-robot interaction scenarios, this paper proposes a hierarchical control strategy for a dual-motor-driven variable stiffness actuator (VSA), enabling coordinated control of position tracking and...
Jin-Liang Liu, Xiu-Long Wu, Yiqing Zheng et al.· International Conference on...· 0 citations
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