2019
Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance
RA-L 2019
In this letter, we introduce our approach to walking assistance for elderly adults through predictive optimization of gait assistive force. We focus on providing supportive interaction force to the user during walking with a robotic assistive device with an admittance controlled mobile base. Appropr