Inverse Optimal Robust Adaptive Controller for Upper Limb Rehabilitation Exoskeletons With Inertia and Load Uncertainties
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DOI: 10.1109/lra.2021.3061361
Abstract: We propose a robust adaptive controller for the safe and accurate trajectory tracking control of upper limb rehabilitation exoskeletons. The proposed controller can adapt to the inertia and load uncertainties, and compensate for their effects.… read more here.
Keywords: robust adaptive; adaptive controller; upper limb; controller ... See more keywords