An Adaptive and Hybrid End-Point/Joint Impedance Controller for Lower Limb Exoskeletons.
Serena MaggioniNils ReinertLars LünenburgerAlejandro Melendez-CalderonPublished in: Frontiers Robotics AI (2018)
Keyphrases
- endpoints
- position control
- control scheme
- robotic manipulator
- closed loop
- control system
- force control
- control strategies
- feedback loop
- pid controller
- control strategy
- dc motor
- control architecture
- controller design
- optimal control
- degrees of freedom
- line segments
- robot arm
- fuzzy controller
- dynamic model
- single valued
- minimal path
- minimal paths
- neural network
- control law
- adaptive fuzzy
- control method
- central pattern generator