Optimal control of a robotic system for human power enhancement
A Montagner, A Frisoli, S Marcheschi… - … and Symposium on …, 2007 - ieeexplore.ieee.org
Second Joint EuroHaptics Conference and Symposium on Haptic …, 2007•ieeexplore.ieee.org
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
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
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
ieeexplore.ieee.org
Showing the best result for this search. See all results