Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton

In recent years soft wearable exoskeletons, commonly referred to as exosuits, have been widely exploited in human assistance. Hence, a shared approach for a systematic and exhaustive control architecture is extremely important. Most of the exosuits developed so far employ a bowden cable transmission...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 2; H. 3; S. 1786 - 1793
Hauptverfasser:	Binh Khanh Dinh, Xiloyannis, Michele, Antuvan, Chris Wilson, Cappello, Leonardo, Masia, Lorenzo
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	IEEE 01.07.2017
Schlagworte:	Actuators Computer architecture Elbow Electromyography Exoskeletons physically assistive devices Prosthetics and exoskeletons Robots robust/adaptive control of robotic systems Torque
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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