Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements
Abstract
Currently, control of exoskeletons in rehabilitation focuses on imposing desired trajectories to promote relearning of motions. Furthermore, assistance is often provided by imposing these desired trajectories using impedance controllers. However, lower-limb exoskeletons are also a promising solution for mobility problems of individuals in daily life. To develop an assistive exoskeleton which allows the user to be autonomous, i.e. in control of...
Paper Details
Title
Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements
Published Date
Jun 3, 2019
Volume
16
Issue
1
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