Modulating hip stiffness with a robotic exoskeleton immediately changes gait.
Jongwoo LeeHaley R. WarrenVibha AgarwalMeghan E. HuberNeville HoganPublished in: ICRA (2020)
Keyphrases
- position control
- lower extremity
- robotic manipulator
- control scheme
- force control
- closed loop
- control system
- control strategies
- gait recognition
- limit cycle
- robot arm
- gait analysis
- human gait recognition
- feedback loop
- degrees of freedom
- dc motor
- pid controller
- human gait
- contact force
- biped robot
- dynamic model
- control strategy
- end effector
- human recognition
- control loop
- robotic systems
- real time
- human identification
- robot manipulators
- robotic arm
- person identification
- object manipulation
- finite element analysis
- mobile robot
- motion capture
- control law
- impedance control
- human motion
- walking speed
- gait patterns
- control algorithm