Decoupled model predictive control with SCESO for contact force regulation of a shape-adaptive shield in assistive toileting robots

Key Points

• Effective regulation of contact force is achieved using model predictive control, enhancing robot performance.
• The model predictive control integrates SCESO to improve adaptability, crucial for assistive robot tasks.
• Simulation-based approaches validate the performance of the decoupled control model in dynamic environments.
• This work supports advancements in assistive robotics by emphasizing the importance of adaptive control mechanisms.