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An admittance-controlled wheeled mobile manipulator for mobility assistance: Human–robot interaction estimation and redundancy resolution for enhanced force exertion ability

Robot KinematicsRehabilitation RoboticsRobot ControlRobotic SystemsKinesiologyAssistive TechnologyMobility AssistanceEngineeringMechatronicsMechanical SystemsAssistive RobotRedundancy ResolutionKinematicsHuman MovementHuman–robot Interaction EstimationRoboticsHuman-robot InteractionHealth Sciences