@InProceedings{lopez:humanoids:2014,
  author    = {L{\'o}pez, Montellano, Alfonso and Vaillant, Joris and Keith, Fran{\c c}ois and Fraisse, Philippe and Kheddar, Abderrahmane},
  title     = {Compliant control of a humanoid robot helping a person stand up from a seated position},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2014},
  address   = {Madrid, Spain},
  month     = {November 18-November 20},
  url       = {https://www.researchgate.net/profile/Philippe-Fraisse/publication/283594260\_Compliant\_control\_of\_a\_humanoid\_robot\_helping\_a\_person\_stand\_up\_from\_a\_seated\_position/links/56ead18408aec6b500164b22/Compliant-control-of-a-humanoid-robot-helping-a-person-stand-up-from-a-seated-position.pdf},
  keywords  = {Force, Humanoid robots, Legged locomotion, Injuries, Guidelines, Knee},
  doi       = {10.1109/HUMANOIDS.2014.7041457},
  abstract  = {Supporting somebody while standing up from a seated position is one of the most frequent tasks envisaged for a humanoid assistant used in order to help somebody with reduced mobility around the house. The safest way to do this for a human carer has been clearly defined in patient handling guides for hospitals where a policy of never lifting the patient is strongly recommended. Based on these guidelines, this paper proposes a stable initial posture for a humanoid robot supporting a person from sitting to standing, as well as a control law to make the robot keep a contact force and follow the motion of the person compliantly. This initial position and compliant control of the robot was implemented and tested on the humanoid HRP-4 interacting with a healthy subject.}
}