Optimally Biomimetic Passivity-Based Control of a Lower-Limb Exoskeleton Over the Primary Activities of Daily Life

Task-specific, trajectory-based control methods commonly used in exoskeletons may be appropriate for individuals with paraplegia, but they overly constrain the volitional motion of individuals with remnant voluntary ability (representing a far larger population). Human-exoskeleton systems can be rep...

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Veröffentlicht in:	IEEE Open Journal of Control Systems 2022, Vol.1, p.15-28
Hauptverfasser:	Lin, Jianping, Divekar, Nikhil V., Thomas, Gray C., Gregg, Robert D.
Format:	Artikel
Sprache:	eng
Schlagworte:	Biomedical Dynamics Exoskeletons Legged locomotion optimization Potential energy robotics Stairs Task analysis Torque
Online-Zugang:	Volltext
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