Trajectory-Free Control of Lower-Limb Exoskeletons Through Underactuated Total Energy Shaping
Kinematic control approaches for exoskeletons replicate normative joint kinematics associated with one specific task and user at a time, which makes it difficult to adjust to continuously-varying activities during gait training. These approaches also overly constrain individuals who have partial or...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9475042/ |