Employing variable impedance (stiffness/damping) hybrid actuators on lower limb exoskeleton robots for stable and safe walking trajectory tracking
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-020-0534-4
Abstract: Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe human-robot interaction. In parallel with this idea, we previously constructed a biomimetic compliant exoskeleton robot (BioComEx). In this study, to provide more… read more here.
Keywords: exoskeleton robots; controller; impedance; exoskeleton ... See more keywords
Learning-Based Error-Constrained Motion Control for Pneumatic Artificial Muscle-Actuated Exoskeleton Robots With Hardware Experiments
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DOI: 10.1109/tase.2021.3131034
Abstract: Due to high biological adaptability and flexibility, pneumatic artificial muscle (PAM) systems are widely employed in exoskeleton robots to accomplish rehabilitation training with repetitive motions. However, some intrinsic characteristics of PAMs and inevitable practical factors,… read more here.
Keywords: exoskeleton robots; control; motion; controller ... See more keywords