Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction.
Gabriel Aguirre-OllingerHaoyong YuPublished in: IEEE Trans. Robotics (2021)
Keyphrases
- force control
- variable structure
- robot manipulators
- control strategy
- control law
- position control
- joint angles
- control system
- degrees of freedom
- inverse kinematics
- mathematical model
- sliding mode
- motion planning
- closed loop
- control scheme
- control algorithm
- control method
- control theory
- adaptive control
- optimal control
- end effector
- contact force
- pid controller
- nonlinear systems
- feedback loop
- fuzzy neural network
- fuzzy controller
- dynamic model
- robot arm
- control parameters
- fuzzy control
- regression model
- fuzzy logic