J
Juanjuan Zhang
Researcher at Carnegie Mellon University
Publications - 12
Citations - 980
Juanjuan Zhang is an academic researcher from Carnegie Mellon University. The author has contributed to research in topics: Torque & Exoskeleton. The author has an hindex of 7, co-authored 9 publications receiving 620 citations. Previous affiliations of Juanjuan Zhang include Nanyang Technological University & University of Pittsburgh.
Papers
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Journal ArticleDOI
Human-in-the-loop optimization of exoskeleton assistance during walking.
Juanjuan Zhang,Juanjuan Zhang,Pieter Fiers,Kirby Ann Witte,Rachel W. Jackson,Katherine L. Poggensee,Christopher G. Atkeson,Steven H. Collins +7 more
TL;DR: A method for identifying the exoskeleton assistance that minimizes human energy cost during walking is developed, which was effective with exoskeletons worn on one or both ankles, during a variety of walking conditions, during running, and when optimizing muscle activity.
Proceedings ArticleDOI
Design of two lightweight, high-bandwidth torque-controlled ankle exoskeletons
TL;DR: Performance measures compare favorably with existing devices and with human ankle musculature, and show that these exoskeletons can be used to rapidly explore a wide range of control techniques and robotic assistance paradigms as elements of versatile, high-performance testbeds.
Proceedings ArticleDOI
Experimental comparison of torque control methods on an ankle exoskeleton during human walking
TL;DR: The results indicate that model-free, integration-free feedback control is suited to the uncertain dynamics of the human-robot system, while iterative learning is effective in the cyclic task of walking.
Journal ArticleDOI
Passivity and Stability of Human–Robot Interaction Control for Upper-Limb Rehabilitation Robots
Juanjuan Zhang,Chien Chern Cheah +1 more
TL;DR: A theoretical framework is presented that establishes the passivity of the closed-loop upper-limb rehabilitative robotic systems and allows rigorous stability analysis of human-robot interaction and realizes the “assist-as-needed” strategy.
Book ChapterDOI
Torque Control in Legged Locomotion
TL;DR: In this article, the authors compared the performance of nine control strategies, including variations on classical feedback control, model-based control, adaptive control, and iterative learning, with an ankle exoskeleton with series elastic actuation driven by an off-board motor through a uni-directional Bowden cable.