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Q1: I felt more relax encountering the robot on the corridor compared to human.
In comparison with existing results, the constraint condition of the positive definition of the LKF is more relax, since it is positive definite only requiring at sampling instants.
The final result shows that the former method has a more relax position error when generates the same wave-front aberration.
(2) Augmented Lyapunov Krasovskii functional (LKF) is applied to introduce more relax variables, which can alleviate the requirements of the positive definiteness of the matrix.
The condition of LTC in Eq. (18) is more relax than condition of GTC in Eq. (17) (Fujii et al., 2015).
Five points Likert scale [40] was used to evaluate the following questions: Q1: I felt more relax encountering the robot on the corridor compared to human.
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