Bio-inspired adaptive impedance based controller for human-robot interaction and method

The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) is/are controlled in force by a low level controller using an impedance control; wherein the joint(s) output force(s) is/are determined by a high level controller using a finite state control; and wherein the high level controller finite state control is governed by a voluntary motion from the user reaching a predetermined trigger.


Year:
2020
Keywords:
Note:
Alternative title(s) : (fr) Dispositif de commande basé sur une impédance adaptative bio-inspiré pour une interaction homme-robot et procédé
Other identifiers:
EPO Family ID: 63578916
Patent number(s):
Laboratories:




 Record created 2020-03-04, last modified 2020-07-14


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