A Human-Centered Control Framework for Robotic Sit-to-Stand Assistance

In this research, we propose a human-centered control framework for the Sit-To-Stand (STS) assistance by using a robot manipulator. The framework is designed to assist those with weak knees and feeble muscles to get out of a seated position. Compared to previous work on STS assistance, we develop a novel human-centered strategy that explicitly optimizes the human joint loads under the human body dynamics while taking care of the constantly-changing intention of the human during the actual STS assistance. Simulations and experiments are conducted to validate the proposed control framework.

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