A human-centered control framework for robotic sit-to-stand assistance

Jiawei Li, Lu Lu, Leidi Zhao, Cong Wang, Xiaoye Huo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this research, we propose a human-centered control framework for the Sit-To-Stand (STS) assistance by using a robot manipulator. The framework is designed to assist those with weak knees and feeble muscles to get out of a seated position. Compared to previous work on STS assistance, we develop a novel human-centered strategy that explicitly optimizes the human joint loads under the human body dynamics while taking care of the constantly-changing intention of the human during the actual STS assistance. Simulations and experiments are conducted to validate the proposed control framework.

Original languageEnglish (US)
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages845-850
Number of pages6
ISBN (Print)9781538618547
DOIs
StatePublished - Aug 30 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: Jul 9 2018Jul 12 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period7/9/187/12/18

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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