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...

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Bibliographic Details
Main Authors: Ge Lv, Jianping Lin, Robert D. Gregg
Format: Article
Published: IEEE 2021-01-01
Series:IEEE Access
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