Admittance Model Optimization for Gait Balance Assistance of a Robotic Walker: Passive Model-based Mechanical Assessment
Shunki Itadera,Gordon Cheng,Shunki Itadera,Gordon Cheng
This paper presents an optimization of an admittance control model for gait balance assistance offered by a walker-type assistive robot. We previously introduced the notion of quasi-passive physical Human-Robot Interaction (pHRI) where a non-wearable assistive device adaptively achieves supportability for providing physical assistance and operability to follow the user's intuitive operation. Aimin...
