Low Impedance-Guaranteed Gain-Scheduled GESO for Torque-Controlled VSA With Application of Exoskeleton-Assisted Sit-to-Stand
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DOI: 10.1109/tmech.2020.3032372
Abstract: This article investigates a closed-loop torque-controlled variable stiffness actuator (VSA) combined with a disturbance observer for enhancing low output impedance. We implement the generalized extended state observer (GESO) for conveniently testing the stability of the… read more here.
Keywords: stiffness; geso; impedance; exoskeleton ... See more keywords