In this paper, an application of Model Predictive Control (MPC) to physical human-machine interaction is presented. In particular, the study focuses on the development of a mechatronic device able to apply a well-controlled mechanical impulsive force on the human body, for clinical investigation of postural control. The need for high accuracy and repeatability led to the MPC design, which is able to manage the non-linearities related to the human-machine interaction. The hardware architecture design of the prototype, the development of the control system (based on motor current saturation) and its optimization are presented. The results of experimental trials carried out in the laboratory and on healthy subjects show that the MPC algorithm is able to provide the accuracy and robustness requested by the application.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of Model Predictive Control in Physical Human-Machine Interaction


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Application of Model Predictive Control in Physical Human-Machine Interaction

    Paterna, Maria / Quiñones, Daniel Pacheco / Benedictis, Carlo De et al. | TIBKAT | 2022


    Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control

    Alharbat, Ayham / Esmaeeli, Hanieh / Bicego, Davide et al. | IEEE | 2022


    Human impedance control during physical interaction

    Börner, Hendrik | TIBKAT | 2021

    Free access


    Predictive machine control

    APPLETON ANDY B / KL NOHOON / EL-RATAL WISSAM H et al. | European Patent Office | 2024

    Free access