A Bio-Signal Enhanced Adaptive Impedance Controller for Lower Limb Exoskeleton

• Published in: Proceedings - IEEE International Conference on Robotics and Automation pp. 4739 - 4744
• Main Authors: Xia, Linqing, Feng, Yachun, Chen, Fan, Wu, Xinyu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2020
• Subjects: Artificial neural networks; Estimation; Exoskeletons; Impedance; Legged locomotion; Muscles; Torque

The problem of human-exoskeleton interaction with uncertain dynamical parameters remains an open-ended research area. It requires an elaborate control strategy design of the exoskeleton to accommodate complex and unpredictable human body movements. In this paper, we proposed a novel control approach...