Control and Implementation of 2-DOF Lower Limb Exoskeleton Experiment Platform

Control and Implementation of 2-DOF Lower Limb Exoskeleton Experiment Platform

Abstract In this study, a humanoid prototype of 2-DOF (degrees of freedom) lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton. To improve the detection accuracy of the human-robot interaction torque, a BPNN (backpropagation neural networks...

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Bibliographic Details
Main Authors: Zhenlei Chen, Qing Guo, Huiyu Xiong, Dan Jiang, Yao Yan
Format: Article
Language:English
Published: SpringerOpen 2021-02-01
Series:Chinese Journal of Mechanical Engineering
Subjects:
Lower limb exoskeleton
BP neural network
Backstepping controller
Variable admittance strategy
Online Access:https://doi.org/10.1186/s10033-021-00537-8

Internet

https://doi.org/10.1186/s10033-021-00537-8

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