Title :
Power assisting control of robotic orthoses considering human characteristics on assisted motions
Author :
Nagai, Kiyoshi ; Nakanishi, Isao
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan
Abstract :
This paper addresses a problem of power-assisted control scheme considering human characteristics. The basic concept of the proposed control scheme is explained. It is designed based on impedance control and works with the motion transfer function that utilizes user´s forces to change the desired position used in impedance control. A motion planning considering human characteristics is then described. Effectiveness of the proposed control scheme with the motion planning is investigated using simulations
Keywords :
orthotics; path planning; robots; transfer functions; impedance control; motion planning; motion transfer function; power-assisted control; robotic orthoses; Bicycles; Force control; Humans; Impedance; Leg; Motion control; Motion planning; Orthotics; Robot control; Stability;
Conference_Titel :
Robot and Human Interaction, 1999. RO-MAN '99. 8th IEEE International Workshop on
Conference_Location :
Pisa
Print_ISBN :
0-7803-5841-4
DOI :
10.1109/ROMAN.1999.900301
