Design and Control of a Humanoid Robot for Assistive Applications

Mariam Shiomi^*
*Correspondence: Mariam Shiomi, Department of Applied Informatics and Applied Mathematics, Obuda University, Budapest, Hungary, Email:

Introduction

The design and control of humanoid robots for assistive applications represent a convergence of robotics, biomechanics and human-centered engineering aimed at improving the quality of life for individuals with physical or cognitive impairments. These robots are built to resemble the human form in structure and movement, allowing them to interact naturally in environments designed for humans and perform tasks that support daily living, such as mobility assistance, object retrieval, communication facilitation and emotional support. Developing such robots involves not only replicating human-like kinematics but also ensuring safe, adaptive control strategies for seamless interaction with users. As the global population ages and the demand for eldercare and rehabilitative services grows, humanoid robots stand out as promising solutions to support caregivers and enhance patient autonomy in homes, clinics and rehabilitation centres [1].

Description

The structural design of a humanoid robot intended for assistive functions typically includes articulated limbs, a torso and a head, mimicking the anthropomorphic layout of a human body. This design facilitates ergonomic compatibility with human environments—such as reaching doorknobs, walking on steps, or using utensils—and supports intuitive interaction with users. Materials used in these robots are chosen for a balance between strength, lightness and safety, often incorporating soft padding or compliant actuators to minimize injury risk during physical contact. Key to their functionality is the integration of sensor networks—such as vision systems, force sensors, IMUs and tactile arrays—which enable the robot to perceive and respond to environmental and user cues in real time. For example, pressure sensors in the feet help maintain balance on uneven terrain, while vision and depth sensors allow the robot to identify people, obstacles and objects.

The control system of an assistive humanoid robot is responsible for generating smooth, safe and context-appropriate movements. This involves hierarchical control architectures, where high-level planners determine the task (e.g., walking to a user), mid-level controllers generate trajectories for limb movements and low-level controllers actuate the motors with real-time feedback loops. Advanced techniques such as inverse kinematics, zero moment point (ZMP) control for bipedal balance and whole-body coordination algorithms are applied to achieve stable locomotion and manipulation. For assistive purposes, safety and adaptability are critical, so control systems must include fall detection, compliant control for unexpected interactions and the ability to modulate behavior based on human emotional or physical state. Some robots are also equipped with AI-driven learning modules that allow them to improve their task performance over time and personalize interactions based on user habits or preferences.

In terms of assistive function, humanoid robots are often designed to provide physical, social, or cognitive assistance. Physically, they can help users with mobility impairments by offering support while walking or transferring between positions. Cognitively, they can remind users to take medication, guide them through daily routines, or communicate with remote caregivers. Socially, these robots serve as companions that reduce loneliness and promote emotional well-being, especially in elderly individuals living alone. Their humanoid appearance and expressive abilities, including speech and gesture, make them more relatable and comforting. Integration with smart home systems further enhances their utility, allowing them to control lights, temperature, or appliances via voice or gesture commands. These multi-modal capabilities enable humanoid robots to function not just as machines, but as interactive assistants that foster independence and engagement [2].

Conclusion

In conclusion, the design and control of humanoid robots for assistive applications reflect a sophisticated interplay of mechanical engineering, real-time control theory, artificial intelligence and human-robot interaction principles. Their anthropomorphic structure enables functional compatibility with environments built for humans, while advanced control systems ensure adaptive, safe and efficient performance in dynamic and personal settings. As these robots continue to evolve, their role in healthcare, rehabilitation and eldercare is expected to expand dramatically, offering not only task support but also companionship, monitoring and emotional connection. By addressing both the physical and psychological needs of users, assistive humanoid robots promise to revolutionize care delivery models and empower individuals with greater autonomy. Future advancements will likely focus on improving energy efficiency, emotional intelligence and intuitive learning, further enhancing their potential as trusted partners in human-centered environments.

Acknowledgment

None.

Conflict of Interest

None.

References

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