CPG Control for Harmonic Motion of Assistive Robot With Human Motor Control Identification

Various movements in human life, such as walking, bicycling, cleaning, chewing, swimming, and so on, are periodic or repetitive. This paper proposes a method for designing a feedback controller for a robotic system to help a human with periodic (harmonic, in particular) motion tasks. The control objective is to stabilize a human-intended oscillatory movement while reducing the required human effor...