Admittance control scheme for implementing model-based assistance-as-needed on a robot

Publication Type:
Conference Proceeding
Citation:
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2013, pp. 870 - 873
Issue Date:
2013-01-01
Metrics:
Full metadata record
A model-based assistance-as-needed paradigm has been developed to govern the assistance provided by an assistive robot to its operator. This paradigm has advantages over existing methods of providing assistance-as-needed for applications such as robotic rehabilitation. However, implementation of the model-based paradigm requires a control scheme to be developed which controls the robot so as to provide the assistance calculated by the model-based paradigm to its operator. In this paper an admittance control scheme for providing model-based assistance-as-needed is presented. It is developed considering its suitability for human-robot interaction, and its role within the model-based assistance-as-needed framework. Results from the control implemented on an example robot showed it is capable of providing the operator with the desired level of assistance as governed by the model-based paradigm. This is an essential requirement for the paradigm to be capable of providing efficacious assistance-as-needed in applications such as robotic rehabilitation. © 2013 IEEE.
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