Robot motion control for physical assistance

Abstract

This chapter introduces some motion control algorithms for a mechanical system that has a redundant degree of freedom. Human motions are intelligently and dexterously controlled by sensory and motor nerve systems based on sophisticated sensory organs, intelligent environment recognition, task planning, and redundant and soft mechanical structures. An assistive robot, such as an exoskeleton robot, should be capable of achieving the same level of motions as humans when it compensates for some of the impaired motions of the patient using the device. Human sensorial and motional properties, including a musculoskeletal system, will be introduced in Chap. 4. This chapter focuses on motion control of the redundant mechanical structure, such as an arm system, and the whole body of the exoskeleton. Some basic and advanced control algorithms for a redundant mechanical structure of a robot are introduced to make the physically assistive robot useful and comfortable.