Adaptive Learning Inertia Control of Lower Limb Exoskeleton Robot.

Muhammad Arsalan,Muhammad Tufail,SG Khan,Syed Humayoon Shah

2021 International Conference on Robotics and Automation in Industry (ICRAI)（2021）

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摘要

Patients suffering from strokes or other physical trauma have muscular impairments which deny them full control of their lower limbs. Developing a movable, electromechanical frame for said patients is an avenue currently under intensive research. In this study, a preliminary design and control scheme of the proposed Lower Limb Exoskeleton Robot (LLER) has been presented. Keeping in view the device...

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关键词

adaptive control,compliance control,exoskeleton,assist device,learning control

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