Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

Abstract Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition. However, due to unknown model parameters such as the mass, moment of inertia and mechanical size, the dynamic model of exoskeletons is diffic...

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Bibliographic Details
Main Authors: Yan Shi, Jiange Kou, Zhenlei Chen, Yixuan Wang, Qing Guo
Format: Article
Language:English
Published: SpringerOpen 2024-03-01
Series:Chinese Journal of Mechanical Engineering
Subjects:
Parameter identification
Enhanced whale optimization algorithm (EWOA)
Backstepping
Human-robot interaction
Lower limb exoskeleton
Online Access:https://doi.org/10.1186/s10033-024-01008-6

Internet

https://doi.org/10.1186/s10033-024-01008-6

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