Active torque-based gait adjustment multi-level control strategy for lower limb patient-exoskeleton coupling system in rehabilitation training.
Yu WangYang TianYida GuoHaoping WangPublished in: Math. Comput. Simul. (2024)
Keyphrases
- control strategy
- spinal cord injury
- biped robot
- control algorithm
- control scheme
- control method
- control system
- mathematical model
- operating conditions
- optimal control
- control strategies
- force control
- position control
- fuzzy logic control
- control law
- pi controller
- degrees of freedom
- speed control
- joint angles
- fuzzy controller
- predictive control
- control loop
- sliding mode control
- control architecture
- matlab simulink
- sliding mode
- joint space
- pi control
- robot motion
- induction motor
- feedback loop
- fuzzy logic controller
- steady state
- pwm rectifier
- lower extremity