Dynamic trajectory adjustment of lower limb exoskeleton in swing phase based on impedance control strategy.
Lingling ChenChao WangXiaowei SongJie WangTengyu ZhangXue LiPublished in: J. Syst. Control. Eng. (2020)
Keyphrases
- control strategy
- control scheme
- position control
- control method
- control system
- mathematical model
- optimal control
- control algorithm
- operating conditions
- control strategies
- feedback loop
- speed control
- robot motion
- control law
- transient response
- control architecture
- force control
- sliding mode control
- steady state
- dynamic environments
- fuzzy logic control
- hopf bifurcation
- pi controller
- particle swarm optimization
- lower extremity
- biped robot
- real time
- predictive control
- pid control
- fuzzy controller
- neural network