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Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)
Optimal Control of a Robotic System for Human Power Enhancement
Tsukuba, Japan
March 22-March 24
ISBN: 0-7695-2738-8
ASCII Text
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A. Montagner, A. Frisoli, S. Marcheschi, E. Sanchez, M. Bergamasco, "Optimal Control of a Robotic System for Human Power Enhancement," World Haptics Conference, pp. 212-218, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007.
 
 
BibTex
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@article{ 10.1109/WHC.2007.88,
author = {A. Montagner and A. Frisoli and S. Marcheschi and E. Sanchez and M. Bergamasco},
title = {Optimal Control of a Robotic System for Human Power Enhancement},
journal ={World Haptics Conference},
volume = {0},
year = {2007},
isbn = {0-7695-2738-8},
pages = {212-218},
doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2007.88},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - World Haptics Conference
TI - Optimal Control of a Robotic System for Human Power Enhancement
SN - 0-7695-2738-8
SP212
EP218
A1 - A. Montagner,
A1 - A. Frisoli,
A1 - S. Marcheschi,
A1 - E. Sanchez,
A1 - M. Bergamasco,
PY - 2007
KW - null
VL - 0
JA - World Haptics Conference
ER -
 
A. Montagner, PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
A. Frisoli, PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
S. Marcheschi, PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
E. Sanchez, CEIT (Centro de Estudios e Investigaciones T?cnicas de Guip?zcoa), San Sebastian, Spain
M. Bergamasco, PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
Human power augmentation devices are robotic systems used for assisting the operator in the execution of manipulative/walking tasks and with the capability of amplifying human force. In this paper we present a new approach for the synthesis of an LQG controller that, with respect to other solutions, does not require direct measurements of interaction forces between the robotic device and the external environment. The experimental performance of the devised controller is shown on a testbed with 1 DOF.
Citation:
A. Montagner, A. Frisoli, S. Marcheschi, E. Sanchez, M. Bergamasco, "Optimal Control of a Robotic System for Human Power Enhancement," whc, pp.212-218, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007
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