The New Jersey Institute of Technology's
Electronic Theses & Dissertations Project

Title:	Human-robot interaction for assistive robotics
Author:	Li, Jiawei
View Online:	njit-etd2020-063 (xiii, 103 pages ~ 17.8 MB pdf)
Department:	Department of Mechanical and Industrial Engineering
Degree:	Doctor of Philosophy
Program:	Mechanical Engineering
Document Type:	Dissertation
Advisory Committee:	Lu, Lu (Committee chair) Ji, Zhiming (Committee member) Wang, Cong (Committee member) Fischer, Ian Sanford (Committee member) Lieber, Samuel (Committee member)
Date:	2020-12
Keywords:	Artificial intelligence Assistive task Control framework Robotics System dynamics
Availability:	Unrestricted
Abstract:	This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and implementations of HRI in assistive robotics, including a general methodology of robotic assistance from the human perspective, novel hardware design, robotic sit-to-stand (STS) assistance, human intention estimation, and control.