The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

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This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exos...

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Bibliographic Details
Main Authors: Abidin, A.F.Z (Author), Khairuddina, I.M (Author), Majeed, A.P.P.A (Author), Mohamed, Z. (Author), Razman, M.A.M (Author), Taha, Z. (Author), Yussof H. (Author), Zakaria, M.A (Author)
Format: Article
Language:English
Published: Elsevier B.V. 2017
Subjects:
active force control
Active force control
Control theory
Exoskeleton (Robotics)
Force control
gait rehabilitation
Gait rehabilitation
Intelligent control
Joints (anatomy)
Manipulators
Neuromuscular rehabilitation
particle swarm optimisation
Particle swarm optimisation
Particle swarm optimization (PSO)
Patient rehabilitation
Robotics
robust
Smart sensors
Space flight
three-link manipulator
Three-link manipulator
trajectory tracking control
Trajectory tracking control
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