Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton
A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user’s intention is estimated accurately, a precise position control strategy will improve c...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2016-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2016/5017381 |