Coupling Disturbance Compensated MIMO Control of Parallel Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.
Jie ZuoWei MengQuan LiuQingsong AiSheng Quan XieZude ZhouPublished in: IROS (2019)
Keyphrases
- force control
- robot manipulators
- control strategy
- motor learning
- control system
- closed loop
- lower extremity
- autonomous robots
- degrees of freedom
- open loop
- limit cycle
- mobile robot
- robot arm
- control loop
- end effector
- disturbance rejection
- real time
- position control
- control law
- robot control
- hand eye
- control scheme
- control signals
- robotic arm
- visual servoing
- master slave
- sliding mode control
- contact force
- robotic systems
- control algorithm
- vision system
- brain computer interface
- motion planning
- control method
- sensory motor
- adaptive neural
- motion control
- pid control
- inverted pendulum
- control strategies
- trajectory tracking
- human robot interaction
- multi input multi output