Biomimetic Viscoelastic Compliance Control for Self-Balancing Lower Limb Exoskeleton

Animals, including humans that have muscles with viscoelastic compliance can achieve improved stability. Hence, we investigate a biomimetic control framework with viscoelastic compliance and subsequently apply it to a self-balancing lower limb exoskeleton robot (SBLLER), to ensure stability during l...

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Veröffentlicht in:	IEEE transactions on industrial informatics 2024-12, Vol.20 (12), p.13502-13512
Hauptverfasser:	Tian, Dingkui, Wang, Wanxiang, Li, Feng, Chen, Ziqiang, He, Yong, Li, Jinke, Zhang, Li, Wu, Xinyu
Format:	Artikel
Sprache:	eng
Schlagworte:	Balancing Biomimetic viscoelastic compliance control Biomimetics Compliance Control stability Dynamics exoskeleton Exoskeletons Generators Impact loads Legged locomotion Locomotion mechanism synthesis Parameter robustness Physical properties Robot control Robot dynamics Robot kinematics self-balancing walking Stability Trajectory Viscoelasticity
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