Adaptive Trajectory Tracking Control of a Parallel Ankle Rehabilitation Robot With Joint-Space Force Distribution

Adaptive Trajectory Tracking Control of a Parallel Ankle Rehabilitation Robot With Joint-Space Force Distribution

This paper proposes an adaptive trajectory tracking control strategy implemented on a parallel ankle rehabilitation robot with joint-space force distribution. This device is redundantly actuated by four pneumatic muscles (PMs) with three rotational degrees of freedom. Accurate trajectory tracking is...

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Bibliographic Details
Main Authors: Mingming Zhang, Andrew McDaid, Allan J. Veale, Yuxin Peng, Sheng Quan Xie
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Parallel ankle robot
movement intention
cascade control
trajectory adaptation
force gdistribution
Online Access:https://ieeexplore.ieee.org/document/8746244/

Internet

https://ieeexplore.ieee.org/document/8746244/

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