Human Weight Compensation With a Backdrivable Upper-Limb Exoskeleton: Identification and Control.

ABSTRACT: Active exoskeletons are promising devices for improving rehabilitation procedures in patients and preventing musculoskeletal disorders in workers. In particular, exoskeletons implementing human limb's weight support are interesting to restore some mobility in patients with muscle weakness and help in occupational load carrying tasks. The present study aims at improving weight support of the upper limb by providing a weight model considering joint misalignments and a control law including feedforward terms learned from a prior population-based analysis. Three experiments, for design and validation purposes, are conducted on a total of 65 participants who performed posture maintenance and elbow flexion/extension movements. The introduction of joint misalignments in the weight support model s

SUBMITTER: Verdel D 

PROVIDER: S-EPMC8793740 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature