Human–Robot Physical Interaction

摘要

This chapter contains sections titled: Introduction Kinematic compatibility between human limbs and wearable robots Application of load to humans Control of human–robot interaction Case Study: quantification of constraint displacements and interaction forces in nonergonomic pHR interfaces Case Study: analysis of pressure distribution and tolerance areas for wearable robots Case Study: upper limb tremor suppression through impedance control Case Study: stance stabilization during gait through impedance control References