Control of flexible knee joint exoskeleton robot based on dynamic model.
Biao LiuYouwei LiuZikang ZhouLonghan XiePublished in: Robotica (2022)
Keyphrases
- dynamic model
- lower extremity
- position control
- control scheme
- robot manipulators
- trajectory tracking
- force control
- robotic manipulator
- experimental data
- controller design
- predictive control
- hand eye
- joint space
- total knee replacement
- end effector
- inverse kinematics
- control system
- reduced order model
- neural network controller
- robotic systems
- sliding mode control
- mobile robot
- robot control
- closed loop
- degrees of freedom
- computer assisted
- robotic arm
- parallel manipulator
- sliding mode
- neural controller
- control method
- pid controller
- control strategies
- bi directional
- visual servoing
- physical constraints
- multiple models
- joint angles
- parameter estimates
- control law
- human body
- optimal control
- shear stress