A Novel Control Law for Multi-Joint Human-Robot Interaction Tasks While Maintaining Postural Coordination
Keya Ghonasgi,Reuth Mirsky,Adrian M. Haith,Peter Stone,Ashish D. Deshpande,Keya Ghonasgi,Reuth Mirsky,Adrian M. Haith,Peter Stone,Ashish D. Deshpande
Exoskeleton robots are capable of safe torque-controlled interactions with a wearer while moving their limbs through predefined trajectories. However, affecting and assisting the wearer's movements while incorporating their inputs (effort and movements) effectively during an interaction re-mains an open problem due to the complex and variable nature of human motion. In this paper, we present a con...
