EMG-Based Model Predictive Control for Physical Human–Robot Interaction: Application for Assist-As-Needed Control

In this letter, we propose an electromyography (EMG)-based optimal control framework to design physical human-robot interaction for rehabilitation and develop a novel assist-as-needed (AAN) controller based on a model predictive control (MPC) approach. To enhance the recovery of motor functions, enc...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 3; no. 1; pp. 210 - 217
Main Authors:	Teramae, Tatsuya, Noda, Tomoyuki, Morimoto, Jun
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.01.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Elbow (anatomy) Electromyography Human engineering Human motion Optimal control Physical human-robot interaction physically assistive devices Predictive control Rehabilitation Robot control Robots robust/adaptive control of robotic systems Target tracking Torque Trajectory
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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