Gravity Compensation of an Exoskeleton Joint Using Constant-Force Springs.

Parker W. Hill Eric T. Wolbrecht Joel C. Perry

Published in: ICORR (2019)

Keyphrases

position control
control scheme
force control
closed loop
robotic manipulator
robot arm
joint space
degrees of freedom
lower extremity
control system
feedback loop
control law
dc motor
pid controller
information retrieval
control strategies
joint estimation
end effector
dynamic model
multi modal
data structure