Negative-Stiffness Structure Vibration-Isolation Design and Impedance Control for a Lower Limb Exoskeleton Robot

The series elastic actuator (SEA) is generally used as the torque source of the exoskeleton robot for human–robot interaction (HRI). In this paper, an impedance control method for lower limb exoskeleton robots driven by SEA is presented. First, considering the low-frequency vibrations generated by t...

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書誌詳細

出版年:	Actuators
主要な著者:	Yaohui Sun, Jiangping Hu, Rui Huang
フォーマット:	論文
言語:	英語
出版事項:	MDPI AG 2023-03-01
主題:	impedance control negative stiffness vibration isolation harmonic balance method
オンライン･アクセス:	https://www.mdpi.com/2076-0825/12/4/147