Inertia compensation control of a one-degree-of-freedom exoskeleton for lower-limb assistance: Initial experiments

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Volumn 20, Issue 1, 2012, Pages 68-77

  Aguirre Ollinger, Gabriel ^a   Colgate, J Edward ^b   Peshkin, Michael A ^b   Goswami, Ambarish ^c  

^a UNIVERSITY OF TECHNOLOGY SYDNEY   (Australia)

^b Northwestern University   (United States)

^c HONDA RESEARCH INSTITUTE   (United States)

Author keywords

Admittance control; exoskeleton; rehabilitation robotics

Indexed keywords

ADMITTANCE CONTROL; ANGULAR ACCELERATION; ASSISTIVE; BASELINE STATE; BY-CATCH; COMPENSATION CONTROL; COMPUTER-BASED TASKS; EXOSKELETON; FEED-BACK LOOP; KNEE FLEXIONS; LOW FREQUENCY RANGE; LOW-PASS; LOWER LIMB; MECHANICAL IMPEDANCES; METABOLIC ENERGY; NEGATIVE GAIN; REHABILITATION ROBOTICS; STEP FREQUENCY;

ANGULAR VELOCITY; ENERGY UTILIZATION; NATURAL FREQUENCIES; PHYSIOLOGICAL MODELS; ROBOTICS;

CONTROLLERS;

ALGORITHM; ANALYSIS OF VARIANCE; ARTICLE; BIOMECHANICS; COMPUTER PROGRAM; COMPUTER SIMULATION; ENERGY METABOLISM; EQUIPMENT DESIGN; FEEDBACK SYSTEM; HUMAN; KNEE; LEG; MOVEMENT (PHYSIOLOGY); ORTHOTICS; PHYSIOLOGY; ROBOTICS; STATISTICAL ANALYSIS; WALKING;

ALGORITHMS; ANALYSIS OF VARIANCE; BIOMECHANICS; COMPUTER SIMULATION; DATA INTERPRETATION, STATISTICAL; ENERGY METABOLISM; EQUIPMENT DESIGN; FEEDBACK, PHYSIOLOGICAL; HUMANS; KNEE; LEG; LOWER EXTREMITY; MOVEMENT; ORTHOTIC DEVICES; ROBOTICS; SOFTWARE; WALKING;

EID: 84856481679     PISSN: 15344320     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNSRE.2011.2176960     Document Type: Article

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