Physical Human-Robot Interaction Control of an Upper Limb Exoskeleton with a Decentralized Neuro-Adaptive Control Scheme.
Mahdi HejratiJouni MattilaPublished in: CoRR (2022)
Keyphrases
- control scheme
- human robot interaction
- control strategy
- position control
- predictive control
- control system
- control loop
- pi control
- controller design
- closed loop
- robot manipulators
- robotic manipulator
- tracking error
- feedback controller
- control method
- human robot
- control law
- heat exchanger
- adaptive control
- induction motor
- dynamic model
- neural network controller
- robot programming
- neuro fuzzy
- external disturbances
- control strategies
- humanoid robot
- pid controller
- fuzzy controller
- force control
- fault tolerant control
- nonlinear systems
- gesture recognition
- feedback control
- pi controller
- lower extremity
- operating conditions
- fuzzy logic controller
- sliding mode control
- adaptive neural control
- optimal control
- proportional integral derivative
- control theory
- service robots
- pid control
- feedback loop
- control architecture
- control algorithm
- mathematical model
- neural network
- real time
- degrees of freedom
- reinforcement learning