Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.
Quan LiuAiming LiuWei MengQingsong AiSheng Quan XiePublished in: Frontiers Neurorobotics (2017)
Keyphrases
- force control
- robot manipulators
- motor learning
- control strategy
- degrees of freedom
- lower extremity
- end effector
- robotic arm
- control system
- robot control
- autonomous robots
- robotic systems
- mobile robot
- robot arm
- control architecture
- position control
- hand eye
- limit cycle
- home environment
- closed loop
- motion control
- control law
- control method
- open loop
- adaptive control
- disturbance rejection
- control loop
- trajectory tracking
- dynamic model
- ambient assisted living
- visual servoing
- control strategies
- control scheme
- optimal control
- reinforcement learning
- vision system
- autonomous vehicles
- obstacle avoidance
- humanoid robot