Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons

• Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 6748 - 6755
• Main Authors: He, Binghan, Huang, Huang, Thomas, Gray C., Sentis, Luis
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2019

Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness. This complex stiffness consists of a real stiffness and a hys...