Popa
Papers
1
Total Citations
19
H-Index
1
About
Dr. Popa is a leading researcher in physical human-robot interaction (pHRI), with a focus on adaptive control systems that ensure both safety and performance. Their most cited work, "Model Reference Adaptive Impedance Control for Physical Human-Robot Interaction" (2016, 19 citations), introduces a novel dual-loop control architecture that fundamentally improves how robots and humans collaborate. The inner neuroadaptive loop learns robot dynamics in real-time, enabling the robot to behave like a prescribed impedance model without requiring task-specific trajectories. The outer task-specific loop adapts this impedance to account for human operator dynamics, optimizing joint system performance. This innovative approach, based on a non-standard form of model reference adaptive control, delivers a controller with two adaptive impedance features and assistive inputs. Simulation results demonstrate significantly improved task performance during repetitive point-to-point motions, showcasing how the system enhances human-robot teams. Dr. Popa's work bridges theoretical control theory with practical applications, offering robust solutions for collaborative robotics in manufacturing, rehabilitation, and assistive technologies.
Research Focus
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Top Papers
- 1