Delayed Output Feedback Control for Gait Assistance and Resistance Using a Robotic Exoskeleton.
IEEE Robotics and Automation Letters(2019)
摘要
In this study, we propose an interaction control framework for gait assistance and resistance using a robotic exoskeleton. We define a smoothed state variable that represents joint angle movements while walking. Furthermore, a self-feedback controller is designed with the delayed output state. By applying an appropriate time-delay and positive or negative feedback gain to the state variable, we ca...
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关键词
Knee,Exoskeletons,Legged locomotion,Torque,Hip,Resistance,Training
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