Interactive torque controller with electromyography intention prediction implemented on exoskeleton robot NTUH-II.
Lee-Kai LiuLi-Yu ChienShang-Heh PanJia-Liang RenChi-Lun ChiaoWei-Hsuan ChenLi-Chen FuJin-Shin LaiPublished in: ROBIO (2017)
Keyphrases
- humanoid robot
- joint space
- biped walking
- human robot interaction
- control scheme
- control algorithm
- prediction accuracy
- position control
- liquid state machine
- control strategy
- real time
- manipulation tasks
- dynamic model
- control method
- closed loop
- control system
- neural network
- prediction model
- virtual reality
- user interaction
- control law
- pid controller
- adaptive control
- control architecture
- controller design
- motion control
- robotic manipulator
- optimal control
- dc motor
- control loop
- force control
- robotic systems
- wheeled mobile robot