Fast Gait Mode Detection and Assistive Torque Control of an Exoskeletal Robotic Orthosis for Walking Assistance.
Weiguang HuoSamer MohammedYacine AmiratKyoungchul KongPublished in: IEEE Trans. Robotics (2018)
Keyphrases
- contact force
- legged robots
- biped robot
- control strategy
- control loop
- limit cycle
- control scheme
- human gait
- master slave
- control system
- autonomous robots
- force control
- mobile robot
- control algorithm
- gait patterns
- position control
- external forces
- robotic manipulator
- finite element model
- finite element analysis
- object detection
- inverted pendulum
- induction motor
- robotic systems
- robotic arm
- shape memory alloy
- quadruped robot
- detection algorithm
- control method
- mathematical model
- control theory
- human computer interaction
- force feedback
- walking robot
- fuzzy controller
- robot control
- dynamic model
- closed loop
- vision system
- robot manipulators