Virtually Constrained Admittance Control Using Feedback Linearization for Physical Human-Robot Interaction With Rehabilitation Exoskeletons

Robot-assisted rehabilitation focuses in part on path-based assist-as-needed reaching rehabilitation, which dynamically adapts the level of robot assistance during physical therapy to ensure patient progress along a predefined trajectory without overreliance on the system. Additionally, bimanual exo...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2024-11, p.1-12
Hauptverfasser:	Sun, Jianwei, Foroutani, Yasamin, Rosen, Jacob
Format:	Artikel
Sprache:	eng
Schlagworte:	Admittance control Aerospace electronics Exoskeletons Feedback linearization Force holonomic constraints Mechatronics physical human–robot interaction (pHRI) rehabilitation exoskeletons Robot kinematics Robots Sun Trajectory
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