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Passive Model-Predictive Impedance Control for Safe Physical Human–Robot Interaction 期刊论文
IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS, 2024, 卷号: 16, 期号: 2, 页码: 426-435
Authors:  Cao, Ran;  Cheng, Long;  Li, Houcheng
Favorite  |  View/Download:6/0  |  Submit date:2024/07/03
Impedance control  model-predictive control (MPC)  passivity  physical human-robot interaction  
A Hybrid Controller for Musculoskeletal Robots Targeting Lifting Tasks in Industrial Metaverse 期刊论文
IEEE TRANSACTIONS ON CYBERNETICS, 2024, 页码: 12
Authors:  Qin, Shijie;  Li, Houcheng;  Cheng, Long
Favorite  |  View/Download:81/0  |  Submit date:2024/03/27
Adaptive dynamic programming (ADP)  brain-inspired method  muscle synergy  musculoskeletal system  reinforcement learning (RL)  tracking control  
Design and Control of an Index Finger Exoskeleton with Cable-Driven Translational Joints 会议论文
, Shenzhen, China, 18-21 December 2020
Authors:  Li Houcheng;  Cheng Long;  Li Zhengwei
Adobe PDF(1123Kb)  |  Favorite  |  View/Download:226/41  |  Submit date:2023/04/14
UCAS-Hand: An Underactuated Powered Hand Exoskeleton for Assisting Grasping Task 会议论文
, Xining, China, July 15-19, 2021
Authors:  Houcheng Li;  Long Cheng;  Zhengwei Li;  Guotao Li
Adobe PDF(1261Kb)  |  Favorite  |  View/Download:183/31  |  Submit date:2023/04/14
A neural network based framework for variable impedance skills learning from demonstrations 期刊论文
ROBOTICS AND AUTONOMOUS SYSTEMS, 2023, 卷号: 160, 页码: 10
Authors:  Zhang, Yu;  Cheng, Long;  Cao, Ran;  Li, Houcheng;  Yang, Chenguang
Adobe PDF(3824Kb)  |  Favorite  |  View/Download:405/71  |  Submit date:2023/02/22
Variable impedance skill  Learning from demonstrations  Skills learning  Human-robot interaction  
面向助力的手部外骨骼设计与人机交互控制研究 学位论文
, 2022
Authors:  李厚成
Adobe PDF(33970Kb)  |  Favorite  |  View/Download:361/33  |  Submit date:2022/12/28
手部助力外骨骼,有效性定量评估,自抗扰控制,主动控制  
Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach 期刊论文
IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 卷号: 7, 期号: 2, 页码: 1510-1517
Authors:  Zhang, Yu;  Cheng, Long;  Li, Houcheng;  Cao, Ran
Adobe PDF(3334Kb)  |  Favorite  |  View/Download:263/25  |  Submit date:2022/02/16
Point-to-point tasks  neural network  dynamic system  generalization performance  high dimensional data  
Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 页码: 11
Authors:  Li, Houcheng;  Cheng, Long;  Sun, Ning;  Cao, Ran
Adobe PDF(1769Kb)  |  Favorite  |  View/Download:282/40  |  Submit date:2022/01/27
Exoskeletons  Grasping  Electronics packaging  Kinematics  Senior citizens  Robots  Shape  Admittance control  assistance  finger exoskeleton  preshaping  shape-adaptive grasping  underactuation  
Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 卷号: 26, 期号: 2, 页码: 841-853
Authors:  Li, Houcheng;  Cheng, Long;  Li, Zhengwei;  Xue, Wenchao
Adobe PDF(3069Kb)  |  Favorite  |  View/Download:308/51  |  Submit date:2021/06/07
Actuators  Exoskeletons  Performance evaluation  Training  IEEE transactions  Mechatronics  Active disturbance rejection control  extended state observer  extension motion  hand rehabilitation  parameter selection  transient  steady-state performance  
Preliminary study on the design and control of a pneumatically-actuated hand rehabilitation device 会议论文
, Hefei, MAY 19-21, 2017
Authors:  Houcheng Li;  Cheng Long
Adobe PDF(1019Kb)  |  Favorite  |  View/Download:179/41  |  Submit date:2019/02/14