Switching assistance for exoskeletons during cyclic motions

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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Bibliographic Details
Main Authors: Tagliamonte, Nevio Luigi, Valentini, Simona, Sudano, Angelo, Portaccio, Iacopo, De Leonardis, Chiara, Formica, Domenico, Accoto, Dino
Other Authors: School of Mechanical and Aerospace Engineering
Format: Journal Article
Language:English
Published: 2019
Subjects:
Assistive Exoskeleton
Engineering::Mechanical engineering
Adaptive Controller
Online Access:https://hdl.handle.net/10356/83521
http://hdl.handle.net/10220/49756

Internet

https://hdl.handle.net/10356/83521
http://hdl.handle.net/10220/49756

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