Ultra-local model-based prescribed performance assist-as-needed control for series elastic actuator-based upper limb patient-exoskeleton system under complex state constraints - Wei, Yangchun; Wang, Hao Ping; Tian, Yang (Nonlinear dynamics, 2024)
Keywords: Accuracy; Actuators; Automotive Engineering; Classical Mechanics; Constraints; Control; Control algorithms; Control systems; Dynamical Systems; Engineering; Exoskeletons; Impedance; Liapunov functions; Mechanical Engineering; Parameter identification; Patient safety; Rehabilitation; Torque; Tracking errors; Velocity; Vibration; Upper limb exoskeleton; Assist-as-needed control; Ultra-local model; Complex state constraints; Integral barrier Lyapunov function