Stability-Guaranteed Assist-as-Needed Controller for Powered Orthoses
Why this work is in the frame
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Bibliographic record
Abstract
This brief describes the assistance regulation controller (ARC), a nonlinear admittance controller for powered orthoses (POs) and wearable robotics that simultaneously facilitates task completion and encourages user effort. This brief also introduces a novel acceleration-limited proportional derivative controller (ALPDC) that guarantees the stability of the ARC's inner position control loop. The stability analysis of the ALPDC shows that this simple and robust position controller promotes safer human-robot interactions in a large class of admittance-controlled haptic devices. Both the ARC and ALPDC are implemented on a one-degree-of-freedom PO designed to assist forearm flexion and extension. Experiments performed by a healthy male subject confirm that the ALPDC guarantees stable user-device interactions and bounded tracking errors during highly dynamic forearm motions that lead to instability with a conventional controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it