User-Adaptive Human-Robot Formation Control for an Intelligent Robotic Walker Using Augmented Human State Estimation and Pathological Gait Characterization

@article{Chalvatzaki2018UserAdaptiveHF,
  title={User-Adaptive Human-Robot Formation Control for an Intelligent Robotic Walker Using Augmented Human State Estimation and Pathological Gait Characterization},
  author={Georgia Chalvatzaki and Xanthi S. Papageorgiou and Petros Maragos and Costas S. Tzafestas},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={6016-6022}
}
In this paper we describe a control strategy for a user-adaptive human-robot system for an intelligent robotic Mobility Assistive Device (MAD)using raw data from a single laser-range-finder (LRF)mounted on the MAD and scanning the walking area. The proposed control architecture consists of three modules. In the first module, a previously proposed methodology (termed IMM-PDA-PF)delivers the augmented human state estimation of the user by providing robust leg tracking and on-line estimation of… 

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