Single-input adaptive fuzzy sliding mode control of the lower extremity exoskeleton based on human–robot interaction
This article introduces a human–robot interaction controller toward the lower extremity exoskeleton whose aim is to improve the tracking performance and drive the exoskeleton to shadow the wearer with less interaction force. To acquire the motion intention of the wearer, two subsystems are designed:...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-02-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016686665 |