An Adaptive and Hybrid End-Point/Joint Impedance Controller for Lower Limb Exoskeletons

An Adaptive and Hybrid End-Point/Joint Impedance Controller for Lower Limb Exoskeletons

Assist-as-needed (AAN) algorithms for the control of lower extremity rehabilitation robots can promote active participation of patients during training while adapting to their individual performances and impairments. The implementation of such controllers requires the adaptation of a control paramet...

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Bibliographic Details
Main Authors: Serena Maggioni, Nils Reinert, Lars Lünenburger, Alejandro Melendez-Calderon
Format: Article
Language:English
Published: Frontiers Media S.A. 2018-10-01
Series:Frontiers in Robotics and AI
Subjects:
assist-as-needed
impedance
gait trainer
exoskeleton
stiffness
rehabilitation
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2018.00104/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2018.00104/full

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