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In this paper, we propose an assistive driving simulator with a haptic manipulator for training older drivers. In the training process, it is desirable to limit the tracking error. A haptic device's input power can be adjusted to ensure safety and learning. Using model predictive control, we consider the above limitations as constraints and design controllers to minimize the costs in real time. In addition to good maneuverability, an admittance control is applied to realize an adequate reaction force. Based on experimental results, the designed model predictive controller, combined with the admittance controller, achieves excellent tracking performance in both an autonomous mode and assistive mode

Assistive Driving Simulator with Haptic Manipulator Using Model Predictive Control and Admittance Control