A Human-Centered Control Framework for Robotic Sit-to-Stand Assistance
- Resource Type
- Conference
- Authors
- Li, Jiawei; Lu, Lu; Zhao, Leidi; Wang, Cong; Huo, Xiaoye
- Source
- 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Advanced Intelligent Mechatronics (AIM), 2018 IEEE/ASME International Conference on. :845-850 Jul, 2018
- Subject
- Bioengineering
Computing and Processing
Engineering Profession
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Trajectory
Torque
Mathematical model
Manipulator dynamics
Senior citizens
- Language
- ISSN
- 2159-6255
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.