Document Type
Dissertation
Date of Award
12-31-2020
Degree Name
Doctor of Philosophy in Mechanical Engineering - (Ph.D.)
Department
Mechanical and Industrial Engineering
First Advisor
Lu Lu
Second Advisor
Zhiming Ji
Third Advisor
Cong Wang
Fourth Advisor
Ian Sanford Fischer
Fifth Advisor
Samuel Lieber
Abstract
This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and implementations of HRI in assistive robotics, including a general methodology of robotic assistance from the human perspective, novel hardware design, robotic sit-to-stand (STS) assistance, human intention estimation, and control.
Recommended Citation
Li, Jiawei, "Human-robot interaction for assistive robotics" (2020). Dissertations. 1496.
https://digitalcommons.njit.edu/dissertations/1496
