Verification of a Robotic Ankle Exoskeleton Control Scheme for Gait Assistance in Individuals with Cerebral Palsy.
Gian Maria GasparriMichael Owen BairRobert Patrick LibbyZachary Forest LernerPublished in: IROS (2018)
Keyphrases
- control scheme
- limit cycle
- position control
- control loop
- robotic manipulator
- closed loop
- disturbance rejection
- dynamic model
- neural model
- lower extremity
- control system
- control strategy
- predictive control
- controller design
- fuzzy controller
- robot manipulators
- control law
- pid controller
- induction motor
- person identification
- neural network controller
- neural network
- robotic systems
- feedback control
- nonlinear systems
- pi controller
- gait recognition
- fault tolerant control
- fuzzy logic
- adaptive neural control