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Adaptive Optimal Control in Physical Human-Robot Interaction


Abstract What if there is a way to integrate prosthetics seamlessly with the human body and robots could help improve the lives of children with disabilities? With physical human-robot interaction being seen in multiple aspects of life, including industry, medical, and social, how these robots are interacting with human becomes even more important. Therefore, how smoothly the robot can interact with a person will determine how safe and efficient this relationship will be. This thesis investigates adaptive control method that allows a robot to adapt to the human's actions based on the interaction force. Allowing the relationship to become more effortless and less strained when the robot has a different goal than the human, as seen in Game Theory... (more)
Created Date 2019
Contributor Bell, Rebecca C (Author) / Zhang, Wenlong (Advisor) / Chiou, Erin (Committee member) / Aukes, Daniel (Committee member) / Arizona State University (Publisher)
Subject Robotics / Haptic Feedback / HRI / Human-Robot Interaction / Physical HRI
Type Masters Thesis
Extent 70 pages
Language English
Copyright
Note Masters Thesis Engineering 2019
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis