Position Based Impedance Control Strategy for a Lower Limb Rehabilitation Robot.
Xu LiangWeiqun WangZeng-Guang HouShixin RenJiaxing WangWeiguo ShiLiang PengTingting SuPublished in: EMBC (2019)
Keyphrases
- control strategy
- position control
- force control
- control scheme
- control strategies
- control system
- control architecture
- control method
- operating conditions
- control algorithm
- optimal control
- robot manipulators
- mathematical model
- control law
- position and orientation
- robot motion
- controller design
- control loop
- robotic manipulator
- speed control
- robot moves
- fuzzy logic control
- fuzzy controller
- predictive control
- pid controller
- closed loop
- end effector
- mobile robot
- vision system
- motor learning
- sliding mode control
- robot arm
- inverse kinematics
- matlab simulink
- biped robot
- pi controller
- joint angles
- real time
- transient response
- virtual reality
- autonomous navigation
- lotka volterra
- sliding mode
- variable structure
- visual servoing
- fuzzy logic controller
- adaptive control
- fuzzy control
- neural network