Original paper
Optimal impedance via model predictive control for robot-aided rehabilitation
Abstract
This paper proposes an optimal impedance controller for robot-aided rehabilitation of walking, aiming to increase the patient’s activity during the therapy. In an online procedure, the joint torques produced by the patient during the gait is estimated using the generalized momenta-based disturbance observer and the Extended Kalman filter algorithm. At the same time, a model predictive control is performed to obtain the instantaneous optimal...
Paper Details
Title
Optimal impedance via model predictive control for robot-aided rehabilitation
Published Date
Dec 1, 2019
Journal
Volume
93
Pages
104177 - 104177
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