Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit.
Danie Rodríguez JorgeJavier Bermejo-GarcíaAshwin JayakumarRafael Lorente MorenoRafael Agujetas OrtizFrancisco Romero SánchezPublished in: Sensors (2022)
Keyphrases
- position control
- control algorithm
- limit cycle
- control scheme
- force control
- contact force
- robotic manipulator
- closed loop
- external forces
- joint space
- robot arm
- control system
- control strategy
- control strategies
- data driven
- feedback loop
- pid controller
- humanoid robot
- biped robot
- degrees of freedom
- disturbance rejection
- end effector
- dynamic model
- legged robots
- neural network
- real time
- walking robot
- database
- finite element analysis
- visual servoing
- robotic systems
- case study