Study on the control algorithm for lower limb exoskeleton based on ADAMS/Simulink co-simulation
نویسندگان
چکیده
منابع مشابه
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15 صفحه اولRobust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton
A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control schem...
متن کاملLower-Limb Wearable Exoskeleton
There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahea...
متن کاملBiomechanical modeling and load-carrying simulation of lower limb exoskeleton.
This paper introduces novel modern equipment-a lower extremity exoskeleton, which can implement the mutual complement and the interaction between human intelligence and the robot's mechanical strength. In order to provide a reference for the exoskeleton structure and the drive unit, the human biomechanics were modeled and analyzed by LifeModeler and Adams software to derive each joint kinematic...
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ژورنال
عنوان ژورنال: Journal of Vibroengineering
سال: 2017
ISSN: 1392-8716
DOI: 10.21595/jve.2017.17303