A master-slave control system for lower limb rehabilitation robot with pedal-actuated exoskeleton.
Gao HuangJiameng FanWeimin ZhangTony XiaoFei MengMarco CeccarelliQiang HuangPublished in: RCAR (2016)
Keyphrases
- master slave
- control system
- position control
- robotic arm
- control law
- control scheme
- force control
- closed loop
- lower extremity
- open loop
- contact force
- visual servoing
- control strategy
- robot manipulators
- trajectory tracking
- control architecture
- control algorithm
- mobile robot
- joint space
- human hand
- end effector
- control loop
- robotic manipulator
- robot arm
- real environment
- motor learning
- autonomous robots
- fuzzy logic
- wheeled mobile robot
- control software
- nonlinear systems
- real time
- intelligent control
- control strategies
- pid controller
- control method
- robot navigation
- robot control
- human robot interaction
- dc motor
- fuzzy controller
- degrees of freedom
- real robot
- motion planning
- laparoscopic surgery
- pid control
- humanoid robot
- optimal control
- parallel robot
- trajectory planning
- path planning
- vision system
- limit cycle
- dynamic environments
- dynamic model
- fuzzy control
- inverse kinematics
- virtual reality