A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot

A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot

The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer controller with balance-guiding ability was developed for a...

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Bibliographic Details
Main Authors: Li Qin, Houzhao Ji, Minghao Chen, Ke Wang
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Sensors
Subjects:
lower-limb rehabilitation exoskeleton robotics
balance guiding
non-time-varying phase space
self-coordinated
adaptive trajectory generator
Online Access:https://www.mdpi.com/1424-8220/23/11/5311

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https://www.mdpi.com/1424-8220/23/11/5311

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