Physical Human-Robot Interaction Control of an Upper Limb Exoskeleton With a Decentralized Neuroadaptive Control Scheme.
Mahdi HejratiJouni MattilaPublished in: IEEE Trans. Control. Syst. Technol. (2024)
Keyphrases
- control scheme
- human robot interaction
- control strategy
- control system
- position control
- predictive control
- control loop
- robot manipulators
- controller design
- robotic manipulator
- closed loop
- neural network controller
- induction motor
- robot programming
- feedback controller
- control law
- human robot
- dynamic model
- external disturbances
- heat exchanger
- fault tolerant control
- pi controller
- operating conditions
- control strategies
- service robots
- gesture recognition
- pid controller
- control algorithm
- control method
- pi control
- fuzzy controller
- control architecture
- force control
- proportional integral derivative
- pid control
- feedback loop
- optimal control
- mathematical model
- adaptive neural control
- real time
- neural network
- tracking error
- humanoid robot
- sliding mode control
- chaotic systems
- feedback control
- control theory
- adaptive control
- neuro fuzzy
- lower extremity
- vision system