Closed-Loop Torque and Kinematic Control of a Hybrid Lower-Limb Exoskeleton for Treadmill Walking.
Chen-Hao ChangJonathan CasasSteven W. BroseVictor H. DuenasPublished in: Frontiers Robotics AI (2021)
Keyphrases
- position control
- closed loop
- control scheme
- control system
- open loop
- end effector
- robotic manipulator
- reference trajectory
- force control
- degrees of freedom
- feedback control
- disturbance rejection
- control law
- control strategies
- joint space
- feedback loop
- induction motor
- inverse kinematics
- robot arm
- pid controller
- control loop
- dc motor
- guaranteed cost
- robot manipulators
- parameter identification
- feedback controller
- limit cycle
- humanoid robot
- trajectory tracking
- asymptotic stability
- controller design
- control method
- lower extremity
- vision system
- real time
- adaptive control
- visual servoing
- control strategy
- joint angles
- external disturbances
- control architecture
- fuzzy logic
- control theory