Abstract

A mobile robot system and method for determining the stiffness of a human arm while moving with a user during overground interaction as the user holds the robot's handle and exchanges forces with it. A mobile base moves with the user, a robot arm interacts with the user, and a controller determines the stiffness. The robot arm includes servomotors driving a linkage mechanism, an end effector including the handle supported by the linkage mechanism, and a force transducer measuring a force applied by the user to the handle. The controller causes the robot arm to generate a force perturbation at the handle, measure a peak velocity achieved by the human arm, determine the stiffness of the human arm as a function of force and displacement, and control operation of the system based on the determined stiffness. A robot body may allow for adjusting the height of the robot arm.

Department(s)

Mechanical and Aerospace Engineering

Comments

Docket Number: 21MST028-UTL

Filing Date: 09/27/2022

Issue Date: 03/11/2025, FY25

Prior Publication Data:

US 2023/0072201 A1 March 9, 2023

Patent Application Number

17/939,698

Patent Number

US 12,246,435 B2

Document Type

Patent

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2026 The Curators of the University of Missouri, All rights reserved

Additional Rights Information

Assignee: The Curators of the University of Missouri, Columbia, Missouri (US)

Publication Date

11 March, 2025

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