Power assisting control of robotic orthoses considering human characteristics on assisted motions

This paper addresses a problem of power-assisted control scheme considering human characteristics. The basic concept of the proposed control scheme is explained. It is designed based on impedance control and works with the motion transfer function that utilizes user's forces to change the desired position used in impedance control. A motion planning considering human characteristics is then described. Effectiveness of the proposed control scheme with the motion planning is investigated using simulations.