Assistive Optimal Control-on-Request with Application in Standing Balance Therapy and Reinforcement

Anastasia Mavrommati, Alex Ansari, Todd David Murphey

Research output: Chapter in Book/Report/Conference proceedingChapter


This chapter develops and applies a new control-on-request (COR) method to improve the capability of existing shared control interfaces. These COR enhanced interfaces allow users to request on-demand bursts of assistive computer control authority when manual/shared control tasks become too challenging. To enable the approach, we take advantage of the short duration of the desired control responses to derive an algebraic solution for the optimal switching control for differentiable nonlinear systems. Simulation studies show how COR interfaces present an opportunity for human–robot collaboration in standing balance therapy . In particular, we use the Robot Operating System (ROS) to show that optimal control-on-request achieves both therapy objectives of active patient participation and safety. Finally, we explore the potential of a COR interface as a vibrotactile feedback generator to dynamically reinforce standing balance through sensory augmentation.
Original languageEnglish (US)
Title of host publicationTrends in Control and Decision-Making for Human–Robot Collaboration Systems
EditorsYue Wang, Fumin Zhang
PublisherSpringer International Publishing
Number of pages21
ISBN (Electronic)978-3-319-40533-9
ISBN (Print)978-3-319-40532-2
StatePublished - 2017

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