{"paper":{"title":"Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","math.DS","math.OC"],"primary_cat":"cs.RO","authors_text":"Gray Cortright Thomas, Jeremiah M. Coholich, Luis Sentis","submitted_at":"2019-03-22T18:49:11Z","abstract_excerpt":"Exoskeletons which amplify the strength of their operators can enable heavy-duty manipulation of unknown objects. However, this type of behavior is difficult to accomplish; it requires the exoskeleton to sense and amplify the operator's interaction forces while remaining stable. But, the goals of amplification and robust stability when connected to the operator fundamentally conflict. As a solution, we introduce a design with a spring in series with the force sensitive cuff. This allows us to design an exoskeleton compliance behavior which is nominally passive, even with high amplification rat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09673","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}