Reduced model adaptive force control for carrying human beings with uncertain body dynamics in nursing care

As the human society steps into the aging society, robots play more and more important roles in our daily life, especially in nursing activities. As we all know, the human body has numerous joints and each joint has at least one degree of freedom. Hence, changing the attitude of human body is very complex. In this paper, we consider the human body as a redundant system and only interested parts of the joint states are controlled. The new strategy proposed in this paper is able to lift up the human body to the pre-defined position and posture while regardless of individual differences. In addition, the convergence analysis, including tracking time analysis and tracking error analysis, is also given. The approach is simulated by lifting a skeleton human model with two robot arms, which verifies the efficiency and effectiveness of the approach.