Interactive Robotic and Rehabilitation Systems

机器人技术正在成为医疗、航空航天、制造、搜救等各个应用领域的重要工具。随着这种增长，有更高水平的物理人机交互（pHRI），两者之间有更多的共享空间，因此，更有可能发生不安全的交互和碰撞。本研究旨在开发通用的控制和传感策略，以确保pHRI的稳定性和更好的碰撞反应，以提高人类安全，最大限度地降低伤害风险。虽然结果同样适用于工业应用，但重点将放在康复机器人平台上。由于移动性对生活质量的重要性，本研究还研究了机器人和人类两足行走平衡，并提出并验证了增强平衡障碍患者平衡的交互技术。

Robotics is emerging as an important tool in various application areas such as medical, aerospace, manufacturing, and search and rescue. With this growth, there is higher levels of physical Human-Robot Interaction (pHRI), there are more shared spaces between the two, and therefore, there is more potential for unsafe interactions and collisions. This research aims at developing generic control and sensing strategies which can ensure stability of pHRI and better react to collisions in order to increase human safety and minimize the risk of injuries. An emphasis will be given to rehabilitation robotic platforms though the results are equally applicable to industrial applications. Due to the importance of mobility to the quality of life, this research also investigates bipedal walking balance in robots and human and proposes and validates interactive technologies to enhance balance in people with balance impairment.