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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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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creator Montagner, A.
Frisoli, A.
Marcheschi, S.
Sanchez, E.
Bergamasco, M.
description 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_str_mv 10.1109/WHC.2007.88
format conference_proceeding
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identifier ISBN: 0769527388
ispartof Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007, p.212-218
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Control system synthesis
Exoskeletons
Force control
Force measurement
Force sensors
Humans
Legged locomotion
Optimal control
Robots
Torque control
title Optimal Control of a Robotic System for Human Power Enhancement
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