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

本研究的目的是开发并评估一种基于上半身的辅助行动装置共享控制系统。在过去的一年里，我将注意力主要集中在躯干控制系统的改进上，这是本文研究的主要内容之一。我研究了两种改进躯干控制系统的方法，第一种方法是研究一种新的控制器，第二种方法是研究一种新的机构，这两种方法都是为了提高人与机器人之间的耦合性。初步结果和方法在一次国际会议上公布。

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.