The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations

Lower-limb exoskeletons often use torque control to manipulate energy flow and ensure human safety. The accuracy of the applied torque greatly affects how well the motion is assisted and therefore improving it is always of interest. Feed-forward iterative learning, which is similar to predictive str...

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Bibliographic Details
Main Authors: Juanjuan Zhang, Steven H. Collins
Format: Article
Published: Frontiers Media S.A. 2021-05-01
Series:Frontiers in Neurorobotics
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