A PID Control System for Lower-Limb Rehabilitation Robot with a Function for Pedal Torque Estimation

This article presents a proportional integral derivative (PID) control system for lower-limb rehabilitation robot that not only features satisfactory control performance for the pedal angle but also provides a function for pedal torque estimation. Nonlinear state feedback simplifies the stability an...

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Vydané v:	Journal of advanced computational intelligence and intelligent informatics Ročník 29; číslo 6; s. 1517 - 1529
Hlavní autori:	Jing, Yue, Wang, Zewen, Wu, Qiwei, She, Jinhua, Kawata, Seiichi
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Tokyo Fuji Technology Press Co. Ltd 20.11.2025
Predmet:	Ankle Closed loops Control systems design Controllers Design Disturbance observers Feedback control Hip joint Informatics Knee Liapunov functions Patients Proportional integral derivative Rehabilitation robots Robots Sensors Signal processing Stability analysis State feedback State observers Torque
ISSN:	1343-0130, 1883-8014
On-line prístup:	Získať plný text
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