The need for compliant control of dexterous hands as end-effectors in environmental interactions is increasingly emphasized. Traditional compliant control methods are often characterized by significant grasping force errors and poor adaptability. To address the constant force control requirements for object graspin...
Chang-Long Ye, Si-Xu Lu, Su-Yang Yu et al.· Robotic Intelligence and Aut...· 0 citations
Compliant control of dexterous hands is increasingly demanded for environmental interaction. Conventional strategies often suffer from significant force tracking errors and poor adaptability when interacting with unknown environments. To meet the constant-force contact requirements in omnidirectional dexterous hand (...
Chang-Long Ye, Si-Xu Lu, Su-Yang Yu et al.· Robotica (Cambridge. Print)· 0 citations
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.· 2026 3rd International Confe...· 0 citations
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...
