Review on patient-cooperative control strategies for upper-limb rehabilitation exoskeletons
Technology-supported rehabilitation therapy for neurological patients has gained increasing
interest since the last decades. The literature agrees that the goal of robots should be to …
interest since the last decades. The literature agrees that the goal of robots should be to …
Human-in-the-loop control of soft exosuits using impedance learning on different terrains
Many previous works of soft wearable exoskeletons (exosuit) target at improving the human
locomotion assistance, without considering the impedance adaption to interact with the …
locomotion assistance, without considering the impedance adaption to interact with the …
A human-like inverse kinematics algorithm of an upper limb rehabilitation exoskeleton
S Pei, J Wang, J Guo, H Yin, Y Yao - Symmetry, 2023 - mdpi.com
Powered exoskeleton rehabilitation is an effective way to help stroke patients recover their
motor abilities. Bionic structures and human-like control strategies can be used to enhance …
motor abilities. Bionic structures and human-like control strategies can be used to enhance …
A composite position control of flexible lower limb exoskeleton based on second-order sliding mode
Z Sun, J Qiu, J Zhu, S Li - Nonlinear Dynamics, 2023 - Springer
Aiming at the problem that the trajectory tracking error of flexible lower limb exoskeleton
robot is too large under the condition of external disturbance and parameters uncertainty, a …
robot is too large under the condition of external disturbance and parameters uncertainty, a …
Flexible control strategy for upper-limb rehabilitation exoskeleton based on virtual spring damper hypothesis
D Kong, W Wang, Y Shi, L Kong - Actuators, 2022 - mdpi.com
The focus of this work is to design a control strategy with the dynamic characteristics of
spring damping to realize the virtual flexibility and softness of a rigid-joint exoskeleton …
spring damping to realize the virtual flexibility and softness of a rigid-joint exoskeleton …
Rotation Angle Control Strategy for the Hip Joint of an Exoskeleton Robot Assisted by Paraplegic Patients Considering Time-Varying Inertia
The design and development of new exoskeleton robots can help patients with lower limb
paralysis realize autonomous walking. During the motion of an exoskeleton robot carrying …
paralysis realize autonomous walking. During the motion of an exoskeleton robot carrying …
ℒ1 – ℬℒ Adaptive Controller Design for Wrist Rehabilitation Robot
Upgrading control algorithms to maximize the benefit of robot rehabilitation and increase the
patient's active participation in treatment is very important. The ℒ 1 adaptive controller is …
patient's active participation in treatment is very important. The ℒ 1 adaptive controller is …
Shared autonomy and positive power control for powered exoskeletons
Powered exoskeletons have been shown to significantly reduce physical workload during
occupational tasks. Due to this they have great potential impact on future labor practices …
occupational tasks. Due to this they have great potential impact on future labor practices …
Robust adaptive trajectory tracking of nonlinear systems based on input-to-state stability tracking control Lyapunov functions
Y Satoh, M Iwashita, O Sakata - IFAC-PapersOnLine, 2021 - Elsevier
In this paper, we propose a trajectory-tracking controller for input-affine nonlinear systems,
which guarantees robustness in the presence of both input uncertainties and external …
which guarantees robustness in the presence of both input uncertainties and external …
Model Predictive Control for Tremor Suppressing Exoskeleton
This paper focuses on the application of model-based predictive control (MPC) for a full wrist
exoskeleton designed for the alleviation of tremors in patients suffering from Parkinson's …
exoskeleton designed for the alleviation of tremors in patients suffering from Parkinson's …