Author:
Concha Antonio,González-Sánchez Francisco Emmanuel,Ramírez-Velasco Efrain,Sánchez Martín,Gadi Suresh Kumar
Abstract
This article presents a pictorial representation of a generalized model for a human interacting with an exoskeleton or a force-augmenting device. This model is used for comparing four different control schemes, which are: 1) Kazerooni's algorithm, 2) BLEEX’s algorithm, 3) technique inspired by fictitious gain, and 4) Force control with velocity and position feedback. The hardware and software requirements for the presented control algorithms are also discussed.
Subject
Industrial and Manufacturing Engineering,General Business, Management and Accounting,Materials Science (miscellaneous),Business and International Management
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