Adaptive Neural Control of a Kinematically Redundant Exoskeleton Robot Using Brain-Machine Interfaces

• Published in: IEEE transaction on neural networks and learning systems Vol. 30; no. 12; pp. 3558 - 3571
• Main Authors: Li, Zhijun, Li, Junjun, Zhao, Suna, Yuan, Yuxia, Kang, Yu, Chen, C. L. Philip
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Algorithms; Brain; Brain-computer interfaces; Brain–machine interface (BMI); EEG; Exoskeletons; Feature extraction; kinematic redundancy; Lyapunov methods; Lyapunov-based control; Man-machine interfaces; Neurodynamics; neurodynamics optimization; Optimization; Redundancy; Robot control; Robot dynamics; Robots; Task space; Tracking errors; Velocity

In this paper, a closed-loop control has been developed for the exoskeleton robot system based on brain-machine interface (BMI). Adaptive controllers in joint space, a redundancy resolution method at the velocity level, and commands that generated from BMI in task space have been integrated effectiv...