Compliant-Control-Based Assisted Walking with Mobile Manipulator.

ABSTRACT: In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admittance controller that can adaptively regulate the virtual mass and damping parameters based on the interaction forces and the human motion intention predicted using the fuzzy theory. Moreover, a feedforward velocity compensator based on a designed state observer is proposed to decrease the inertia resistance of the manipulator, effectively enhancing the compliance of the human-robot interaction. Then, the configuration of the mobile manipulator is optimized based on a null-space approach by considering the singularity, force capacity, and defo

SUBMITTER: Li W 

PROVIDER: S-EPMC10886938 | biostudies-literature | 2024 Feb

REPOSITORIES: biostudies-literature