Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Closed-Loop SEA Outer-Loop Study
This paper instantiates the predictive interaction-dynamics framework of the base pHRI formulation on a SEA knee joint by implementing Bounded Assist-as-Needed scheduling, a corrective-channel energy tank, constrained OSQP stress cases, direct MuJoCo execution, and a posture-clamped MyoSuite knee slice.
Yong-Yan Cao, Jin-Shan Tang
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