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09/14/2023
Simulation Study of the Upper-limb Wrench Feasible Set with Glenohumeral Joint Constraints
The aim of this work is to improve musculoskeletal-based models of the u...
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11/30/2022
Approximating robot reachable space using convex polytopes
This paper presents an approach for approximating the reachable space of...
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10/13/2021
On-line feasible wrench polytope evaluation based on human musculoskeletal models: an iterative convex hull method
Many recent human-robot collaboration strategies, such as Assist-As-Need...
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04/01/2021
Efficient Set-Based Approaches for the Reliable Computation of Robot Capabilities
To reliably model real robot characteristics, interval linear systems of...
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11/10/2020
On-line force capability evaluation based on efficient polytope vertex search
Ellipsoid-based manipulability measures are often used to characterize t...
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10/16/2020