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Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
This study addresses the intricate challenge of decentralized output-feedback control for stochastic non-triangular nonlinear interconnected systems with unknown time-varying sensor sensitivity in a dynamic event-triggered context. The…
This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
Summary: Walking is regulated through the motorcontrol system (MCS). The MCS consists of a network of neurons from the central nervous system (CNS) and the intraspinal nervous system (INS), which is capable of producing a syncopated output.…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
Electro-cortical activity in patients with epilepsy may show abnormal rhythmic transients in response to stimulation. Even when using the same stimulation parameters in the same patient, wide variability in the duration of transient…
The increase in renewable energy sources (RES) has reduced power system inertia, making frequency stabilization more challenging and highlighting the need for fast frequency response (FFR) resources. While building energy management systems…
In this paper, we concentrate on the exponential stabilization of stochastic nonlinear systems. Different from the single event-triggering mechanism in traditional deterministic/stochastic control systems, based on two stopping time…
Control problems are always challenging since they arise from the real-world systems where stochasticity and randomness are of ubiquitous presence. This naturally and urgently calls for developing efficient neural control policies for…
This paper presents a dynamic Frequency Regulation (FR) model of a large interconnected power system including Energy Storage Systems (ESSs) such as Battery Energy Storage Systems (BESSs) and Flywheel Energy Storage Systems (FESSs),…
Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
With potential relevance to biomechanics, an interesting problem in statistical mechanics not previously solved is a binary mechanical model system. Discrete chemical states of proteins are often associated with discrete metastable…
Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…
Power systems are usually large non-linear systems, which are often subjected to low frequency electromechanical oscillations. Power System Stabilizers are often used as effective and economic means for damping the generator's…
Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…
Objective. Personalized transcranial electrical stimulation (tES) has gained growing attention due to the substantial inter-individual variability in brain anatomy and physiology. While previous reviews have discussed the physiological…
Autonomous emergency steering (AES) systems have the promising potential to further reduce traffic fatalities with other (potentially vulnerable) traffic participants by using relatively small lateral deviations to realize collision-free…