Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions.
Guillaume DurandauWolfgang F. RampeltshammerHerman van der KooijMassimo SartoriPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- adaptive control
- limit cycle
- control law
- control scheme
- control method
- nonlinear systems
- control algorithm
- feedback control
- dynamic environments
- disturbance rejection
- lower extremity
- chaotic systems
- autonomous control
- sufficient conditions
- control system
- dynamic model
- control strategy
- closed loop
- position control
- adaptive controller
- reinforcement learning
- control theory
- variable structure
- image sequences
- initial conditions
- mathematical model
- neural network
- neural model
- pid controller
- multi robot
- regression model
- human body