A Sensorless Control Framework for Human Intention Based Power Assist Robots

초록

This paper proposes a novel human intent driven assistive control framework for mobile transport robots that aims to support collaborative physical interaction without relying on dedicated force sensors. Conventional autonomous mobile robots (AMRs) suffer from high initial costs, poor adaptability in complex environments, and limited capability for human cooperation. To address these limitations, the proposed method estimates user input using only wheel encoder measurements and employs a force observer combined with a classification algorithm to separate user intended signals from external disturbances. The classified user force is converted into compliant motion commands using a virtual impedance model and then integrated into a Power Assistive Controller (PAC) that generates final motion commands while actively suppressing disturbances. Comparative simulation results demonstrate that the proposed system enables stable and accurate motion assistance, selectively amplifying user intent while rejecting environmental interference. The system's simple hardware structure, low implementation cost, and robustness in unstructured environments make it a practical solution for assistive mobility applications, particularly for elderly and physically impaired users.

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