Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments

Autor: M.S. Ben Abdessalem, Yacine Amirat, Samer Mohammed, Hala Rifai, Ahmed Chemori

Publikováno v: 33rd IEEE International Conference on Robotics and Automation
ICRA: International Conference on Robotics and Automation
ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714, ⟨10.1109/ICRA.2016.7487794⟩
IEEE International Conference on Robotics and Automation
ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. IEEE, IEEE International Conference on Robotics and Automation, pp.5708-5714, 2016, 〈10.1109/ICRA.2016.7487794〉
ICRA

International audience; This paper deals with the control of a lower limb exoskeleton acting on the knee joint level. Classical L1 adaptive control law is proposed to ensure assistance-as-needed and resistive rehabilitation following a desired trajec

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4cf81b0fb95505da53eac0dfc73490d4
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01723920