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In this paper, we propose a physically meaningful energy-related safety indicator for robots sharing their workspace with humans. Based on this indicator, a safety criterion accounting for the breaking capabilities of the robot is included as a quadratic constraint in the control algorithm. This constraint is modulated by the distance between the human operator and the end-effector of the robot. The...
Assistance to walking is a key point in improving autonomy during daily living activities of elderly and disabled people. Despite the significant number of active robotized walkers and canes proposed in the literature, only few studies focused on the mechanical influence of assistive devices on the gait generation process. A deeper analysis of assisted walking dynamics is very likely to help improving...
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