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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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 2; no. 3; pp. 1786 - 1793
Main Authors:	Binh Khanh Dinh, Xiloyannis, Michele, Antuvan, Chris Wilson, Cappello, Leonardo, Masia, Lorenzo
Format:	Journal Article
Language:	English
Published:	IEEE 01.07.2017
Subjects:	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 Access:	Get full text
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