sabbaghi Kondori, Hadi

[ 1 ] - Optimal Robust Control for a Series Elastic Actuator assisting Knee Joint

Rehabilitation and assistive systems such as rotary series elastic actuators (RSEA) should provide the desired torque precisely. In this paper, to improve the life quality of those who suffer from weak knees, the control problem of a rotary series elastic actuator (RSEA) has been studied in order to generate soft human walking motion. These actuators produce the require torque, but the nonlinea...