WP6- Adaptive and therapeutic human robot interaction

The objective of this work package is to develop new models for therapeutic human-robot interaction. Baseline for this interaction is the kinematic minimum jerk hypothesis, which is capable of producing smooth trajectories for interaction. This has been extensively used to reproduce the passive, active-assisted and active interactions. However, this work packages aims at investigating a true adaptive interaction where different models such as energy flow or lagging-leading models can be used to determine the extent of help required in achieving tasks with therapeutic benefits.