Disturbance observer based dynamic load torque compensator for assistive exoskeletons
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DOI: 10.1016/j.mechatronics.2018.07.003
Abstract: Abstract In assistive robotics applications, the human limb is attached intimately to the robotic exoskeleton. The coupled dynamics of the human-exoskeleton system are highly nonlinear and uncertain, and effectively appear as uncertain load-torques at the… read more here.
Keywords: torque compensator; compensator; disturbance observer; load ... See more keywords