arXiv cs.NE
· Papers
Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Series-Elastic Instantiation
arXiv:2606.13485v2 Announce Type: replace-cross Abstract: Safe rehabilitation is an interaction-dynamics problem: the controller must regulate a prescribed motion while absorbing involuntary spasm, voluntary effort, actuator compliance, and model mismatch as interaction disturbances. This paper instantiates the predict