Search Results - Hongliu Yu
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A Review of Hierarchical Control Strategies for Lower-Limb Exoskeletons in Children with Cerebral Palsy
Published 2025-05-01Get full textIn recent years, with the deepening research on exoskeletons for children with cerebral palsy, increasing evidence has highlighted their unique characteristics. Unlike adult exoskeletons, pediatric exoskeletons cannot be simply realized by scaling down adult designs; instead, special attention must...
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Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method
Published 2025-07-01Get full textThis paper proposes a variable impedance control strategy based on the singular perturbation method to address the challenges of achieving accurate impedance characteristics and mitigating stability degradation in two-degree-of-freedom planar SEA-driven robots. By decomposing the system into fast an...
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A Study on the Establishment of a Variable Stiffness Physical Model of Abdominal Soft Tissue and an Interactive Massage Force Prediction Algorithm
Published 2025-05-01Get full textThis research focuses on the crucial issue of ascertaining safe and suitable massage forces for abdominal massage robots. It does so by constructing variable stiffness soft tissue physical models and devising a machine learning-based prediction algorithm. Twelve healthy volunteers with diverse body...
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Research on the Development of an Abdominal Massage Robot: Diversified Manipulation Strategies and Improved Force Interaction Performance
Published 2025-06-01Get full textAbdominal massage for constipation has problems such as high labor costs, insufficient standardization, and large differences in efficacy. This study aims to develop a new type of abdominal massage robot to break through the bottlenecks of manual abdominal massage. This paper constructs a new six-de...
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