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

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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Bibliographic Details
Main Authors: Yaohui Sun, Jiangping Hu, Rui Huang
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Actuators
Subjects:
impedance control
negative stiffness
vibration isolation
harmonic balance method
Online Access:https://www.mdpi.com/2076-0825/12/4/147

Internet

https://www.mdpi.com/2076-0825/12/4/147

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