Switching Assistance for Exoskeletons During Cyclic Motions

This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyo...

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Bibliographic Details
Main Authors: Nevio Luigi Tagliamonte, Simona Valentini, Angelo Sudano, Iacopo Portaccio, Chiara De Leonardis, Domenico Formica, Dino Accoto
Format: Article
Published: Frontiers Media S.A. 2019-06-01
Series:Frontiers in Neurorobotics
Online Access:https://www.frontiersin.org/article/10.3389/fnbot.2019.00041/full