Optimal Control of a Robotic System for Human Power Enhancement

Human power augmentation devices are robotic systems used for assisting the operator in the execution of manipulative/walking tasks and with the capability of amplifying human force. In this paper, we present new approach for the synthesis of an LQG controller that, with respect to other solutions,...

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Bibliographic Details
Main Authors: Montagner, A., Frisoli, A., Marcheschi, S., Sanchez, E., Bergamasco, M.
Format: Conference Proceeding
Language:English
Subjects:
Control system synthesis
Exoskeletons
Force control
Force measurement
Force sensors
Humans
Legged locomotion
Optimal control
Robots
Torque control
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Summary:Human power augmentation devices are robotic systems used for assisting the operator in the execution of manipulative/walking tasks and with the capability of amplifying human force. In this paper, we present new approach for the synthesis of an LQG controller that, with respect to other solutions, does not require direct measurements of interaction forces between the robotic device and the external environment. The experimental performance of the devised controller is shown on a testbed with 1 DOF
DOI:10.1109/WHC.2007.88