Predictive Exoskeleton Control for Arm-Motion Augmentation Based on Probabilistic Movement Primitives Combined With a Flow Controller.
Marko JamsekTjasa KunavarUrban BobekElmar RueckertJan BabicPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- human arm
- motion control
- robotic arm
- joint space
- control system
- control signals
- degrees of freedom
- control method
- end effector
- control scheme
- robotic manipulator
- control strategy
- control theory
- control loop
- adaptive control
- motion primitives
- mobile robot
- position control
- quadruped robot
- humanoid robot
- optimal control
- feedback control
- controller design
- lower extremity
- control strategies
- neural network controller
- motion planning
- control architecture
- control rules
- motion analysis
- disturbance rejection
- robot manipulators
- body movements
- impedance control
- image sequences
- motion estimation
- space time
- inverted pendulum
- real time
- probabilistic model
- guaranteed cost
- motion model
- force control
- closed loop
- pid controller
- networked control systems
- fuzzy logic controller
- robot arm
- inverse kinematics
- adaptive fuzzy
- control law
- control parameters
- adaptive neural
- human motion
- visual servoing
- configuration space
- iterative learning control
- optical flow
- video sequences
- joint angles