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Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction.
Gabriel Aguirre-Ollinger
Haoyong Yu
Published in:
IEEE Trans. Robotics (2021)
Keyphrases
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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