Switching Assistance for Exoskeletons During Cyclic Motions

This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyo...

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Detalles Bibliográficos
Autores principales: Tagliamonte, Nevio Luigi, Valentini, Simona, Sudano, Angelo, Portaccio, Iacopo, De Leonardis, Chiara, Formica, Domenico, Accoto, Dino
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6594260/
https://www.ncbi.nlm.nih.gov/pubmed/31275130
http://dx.doi.org/10.3389/fnbot.2019.00041

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6594260/
https://www.ncbi.nlm.nih.gov/pubmed/31275130
http://dx.doi.org/10.3389/fnbot.2019.00041

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