首页>
外国专利>
BIO-INSPIRED ADAPTIVE IMPEDANCE BASED CONTROLLER FOR HUMAN-ROBOT INTERACTION AND METHOD
BIO-INSPIRED ADAPTIVE IMPEDANCE BASED CONTROLLER FOR HUMAN-ROBOT INTERACTION AND METHOD
展开▼
机译:基于生物启发自适应阻抗的人机互动和方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
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.
展开▼