A Control Scheme to Minimize Muscle Energy for Power Assistant Robotic Systems Under Unknown External Perturbation


This paper proposes a novel control method to minimize muscle energy for power-assistant robotic systems that support the intended motions of a user under unknown external perturbations, using surface electromyogram (sEMG) signals. Conventional control methods based on force/torque (F/T) sensors have limitations to detect human intentions and could… (More)
DOI: 10.1109/TNSRE.2017.2723609

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