Li X. Compliantly-Driven Robots with Application to Exoskeletons...2025

Textbook in PDF format

This book adopts a multidisciplinary approach to comprehensively explore the intricacies of compliantly driven robots and their application in exoskeletons. It is structured in three main parts.
1) The first part delves into mechanical design, offering a detailed examination of the underlying principles governing the construction and fabrication of these robots. This section encompasses discussions on actuators, joints, and overall system architecture.
2) The second part focuses on interaction control, delving into algorithms and strategies that govern the dynamic and responsive behavior of these robots when interacting with their environment and human users. Topics such as intention sensing, feedback systems, and adaptive control are addressed.
3) The third part is dedicated to interactive learning, where we explore the evolving field of machine learning algorithms tailored for robots, enabling them to adapt and improve their performance over time. Human demonstration, unsupervised learning, and human-in-the-loop methodologies are central themes