Coupled control of human-exoskeleton systems: An adaptative process

Andres F. Ruiz, Eduardo Rocon, Rafael Raya, Jose L Pons

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Robotic exoskeletons are wearable robots coupled to the human body, being the human an integral part of the human-robot system. Specifically, the control plays an important role, and stability must be guarantee. Both actors form a close loop with two control systems interacting dynamically. In this regard, a relevant issue is to understand how humans and robots could physically (kinesthetically) interact and communicate better. This paper deeps in the control of systems interacting dynamically and presents an analytical discussion on the controller design for exoskeletons and the coupled stability problem. Finally, a particular study is described in order to demonstrate the human cognitive system adapting under functional compensation of tremor.

Original languageEnglish (US)
Title of host publication2008 Conference on Human System Interaction, HSI 2008
Pages242-246
Number of pages5
DOIs
StatePublished - 2008
Event2008 Conference on Human System Interaction, HSI 2008 - Krakow, Poland
Duration: May 25 2008May 27 2008

Publication series

Name2008 Conference on Human System Interaction, HSI 2008

Conference

Conference2008 Conference on Human System Interaction, HSI 2008
CountryPoland
CityKrakow
Period5/25/085/27/08

Keywords

  • HRI
  • Human motor control
  • Impedance control
  • Robotic exoskeleton controller

ASJC Scopus subject areas

  • Human-Computer Interaction

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    Ruiz, A. F., Rocon, E., Raya, R., & Pons, J. L. (2008). Coupled control of human-exoskeleton systems: An adaptative process. In 2008 Conference on Human System Interaction, HSI 2008 (pp. 242-246). [4581441] (2008 Conference on Human System Interaction, HSI 2008). https://doi.org/10.1109/HSI.2008.4581441