Upper body Based Human-machine Shared Control for Assistive Mobility Devices

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The purpose of this research is to develop and evaluate an upper body-based shared control system for assistive mobility devices. In the past year, I focused the main attention on the improvement of the torso control system, which is one of the main parts of this research.I have investigated two methods for improving the torso control system which I developed in the previous research, the first one focused on a new controller, the second method focused on a new mechanism, both methods aimed to improve the coupling between the human and the robot.For the second one, I conducted experiments to verify the effectiveness. The preliminary results and methodology were presented in an international conference.