Force-mode control of rotary series elastic actuators in a lower extremity exoskeleton using model-inverse time delay control (MiTDC).
Suin KimJoonbum BaePublished in: IROS (2016)
Keyphrases
- lower extremity
- control system
- probabilistic model
- mathematical model
- control structure
- prior knowledge
- control method
- experimental data
- statistical model
- computational model
- control strategies
- simulation model
- inverted pendulum
- predictive control
- control strategy
- joint space
- shape memory alloy
- feedback control
- optimal control
- real time
- management system
- probability distribution
- mobile robot
- similarity measure