Kristina Savevska

Learning Joint Space Reference Manifold for Reliable Physical Assistance

This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100–200 N) within a very short time (2–8 s), posing significant challenges in terms of human unpredictability and r…