Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements.
Nathan DunkelbergerJeffrey BerningEric M. SchearerMarcia K. O'MalleyPublished in: Frontiers Neurorobotics (2023)
Keyphrases
- position control
- closed loop
- robotic manipulator
- control system
- control scheme
- force control
- control strategies
- robot arm
- control strategy
- end effector
- degrees of freedom
- dc motor
- joint space
- feedback control
- feedback loop
- lower extremity
- process control
- pid controller
- disturbance rejection
- control loop
- control law
- robot manipulators
- robotic systems
- hybrid approaches
- receding horizon
- dynamic model
- control architecture
- control algorithm
- control method
- optimal control
- linear quadratic
- fuzzy logic controller