Minimal Assist-as-Needed Controller for Upper Limb Robotic Rehabilitation - Pehlivan, Ali Utku; Losey, Dylan P.; OMalley, Marcia K. (IEEE transactions on robotics, 2016)
Keywords: Adaptive control; Algorithms; Controllers; Estimation; Force; Friction; human-robot interaction; Lyapunov methods; Neurological disorders; nonlinear control systems; rehabilitation robotics; Robot kinematics; Robot sensing systems; Robotics; Robots; sensorless control; Trajectory; sensorless control; rehabilitation robotics; Adaptive control; human–robot interaction; nonlinear control systems; Lyapunov methods