Time-delay estimation based computed torque control with robust adaptive RBF neural network compensator for a rehabilitation exoskeleton

A new approach to gait rehabilitation task of a 12 DOF lower limb exoskeleton is proposed combining time-delay estimation (TDE) based computed torque control (CTC) and robust adaptive RBF neural networks. In addition to the conventional advantages of the CTC, TDE technique is integrated to estimate...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	ISA transactions 2020-02, Vol.97, p.171-181
Hauptverfasser:	Han, Shuaishuai, Wang, Haoping, Tian, Yang, Christov, Nicolai
Format:	Artikel
Sprache:	eng
Schlagworte:	12 DOF lower limb exoskeleton Algorithms Biomechanical Phenomena Computed torque control Computer Simulation Equipment Design Exoskeleton Device Gait Humans Lower Extremity Neural Networks, Computer Rehabilitation - instrumentation Robotics Robotics toolbox Robust adaptive RBF neural networks Time-delay estimation Torque
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!