A human-centered control framework for robotic sit-to-stand assistance
Document Type
Conference Proceeding
Publication Date
8-30-2018
Abstract
In this research, we propose a human-centered control framework for the Sit-To-Stand (STS) assistance by using a robot manipulator. The framework is designed to assist those with weak knees and feeble muscles to get out of a seated position. Compared to previous work on STS assistance, we develop a novel human-centered strategy that explicitly optimizes the human joint loads under the human body dynamics while taking care of the constantly-changing intention of the human during the actual STS assistance. Simulations and experiments are conducted to validate the proposed control framework.
Identifier
85053911991 (Scopus)
ISBN
[9781538618547]
Publication Title
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM
External Full Text Location
https://doi.org/10.1109/AIM.2018.8452684
First Page
845
Last Page
850
Volume
2018-July
Recommended Citation
Li, Jiawei; Lu, Lu; Zhao, Leidi; Wang, Cong; and Huo, Xiaoye, "A human-centered control framework for robotic sit-to-stand assistance" (2018). Faculty Publications. 8431.
https://digitalcommons.njit.edu/fac_pubs/8431
