An Adaptive and Hybrid End-Point/Joint Impedance Controller for Lower Limb Exoskeletons.

ABSTRACT: Assist-as-needed (AAN) algorithms for the control of lower extremity rehabilitation robots can promote active participation of patients during training while adapting to their individual performances and impairments. The implementation of such controllers requires the adaptation of a control parameter (often the robot impedance) based on a performance (or error) metric. The choice of how an adaptive impedance controller is formulated implies different challenges and possibilities for controlling the patient's leg movement. In this paper, we analyze the characteristics and limitations of controllers defined in two commonly used formulations: joint and end-point space, exploring especially the implementation of an AAN algorithm. We propose then, as a proof-of-concept, an AAN impedance contro

SUBMITTER: Maggioni S 

PROVIDER: S-EPMC7805861 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature