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Optimal Control of a Robotic System for Human Power Enhancement

Human power augmentation devices are robotic systems used for assisting the operator in the execution of manipulative/walking tasks and with the capability of amplifying human force. In this paper, we present new approach for the synthesis of an LQG controller that, with respect to other solutions, does not require direct measurements of interaction forces between the robotic device and the external environment. The experimental performance of the devised controller is shown on a testbed with 1 DOF