Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton

Recently, it has been shown that light-weight, passive, ankle exoskeletons with spring-based energy store-and-release mechanisms can reduce the muscular effort of human walking. The stiffness of the spring in such a device must be properly tuned in order to minimize the muscular effort. However, thi...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 5; no. 3; pp. 4604 - 4611
Main Authors:	Kumar, Saurav, Zwall, Matthew Richard, Bolivar-Nieto, Edgar A., Gregg, Robert D., Gans, Nicholas
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Ankle Electromyography Exoskeletons Legged locomotion Locomotion Muscles Optimization prosthetics and exoskeletons Real-time systems Robust/adaptive control of robotic systems Self tuning Sensors Springs Stiffness Walking wearable robots Weight reduction
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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