An admittance controller based on assistive torque estimation for a rehabilitation leg exoskeleton.
Yali HanSongqing ZhuYiming ZhouHaitao GaoPublished in: Intell. Serv. Robotics (2019)
Keyphrases
- control strategy
- control algorithm
- control scheme
- position control
- feedback loop
- control system
- disturbance rejection
- control method
- human computer interaction
- closed loop
- dynamic model
- real time
- joint space
- robotic manipulator
- fuzzy controller
- biped robot
- optimal control
- control strategies
- induction motor
- inverted pendulum
- open loop
- context aware
- degrees of freedom
- operating conditions
- pi controller
- contact force
- controller design
- lower extremity
- brushless dc
- limit cycle
- quadruped robot
- control loop
- nonlinear systems
- adaptive control
- control law
- pid controller
- mathematical model
- virtual reality
- mobile robot