Adaptive computed torque control based on RBF network for a lower limb exoskeleton.
Shuaishuai HanHaoping WangYang TianPublished in: AMC (2018)
Keyphrases
- rbf network
- radial basis function
- feedback loop
- position control
- lower extremity
- control system
- joint space
- control strategy
- nonlinear functions
- control method
- rbf neural network
- adaptive control
- robotic manipulator
- back propagation
- control algorithm
- neural network
- control scheme
- degrees of freedom
- multilayer perceptron
- hidden units
- end effector
- pattern recognition