Scale Force Control of a Robot Bearing Augmentation Exoskeleton

Abstract

Human performance augmentation exoskeletons have a wide range of applications in the military, industry, construction and other environments. The control methods of augmentation exoskeletons are crucial to ensure effective assistance and the safety of the systems. We proposed a scale force control method that considers both cognitive human-robot interaction and physical human-robot interaction. Experiments on an elbow joint exoskeleton verified the feasibility of the method.