Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance.
Tzu-Hao HuangSainan ZhangShuangyue YuMhairi MacLeanJunxi ZhuAntonio Di LalloChunhai JiaoThomas C. BuleaMinghui ZhengHao SuPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- lightweight
- direct drive
- robotic manipulator
- cnc machine tools
- position control
- control strategy
- feedback loop
- lower extremity
- induction motor
- control scheme
- control system
- optimal control
- wireless sensor networks
- low cost
- control method
- control algorithm
- development environments
- communication infrastructure
- experimental data