Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

<table>Flowchart and hypothetical trajectory of the inertial mass (<svg height="11.825" id="M120" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 19.875 11.825" width="19.875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,13.475,11.762)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg>) for the novel control scheme.</table>

Advances in Human-Computer Interaction

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Figure 6

Figure 6: Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method 

Figure 6 | Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method 