Adaptive Admittance Control for an Ankle Exoskeleton Using an EMG-Driven Musculoskeletal Model
نویسندگان
چکیده
منابع مشابه
Adaptive Admittance Control for an Ankle Exoskeleton Using an EMG-Driven Musculoskeletal Model
Various rehabilitation robots have been employed to recover the motor function of stroke patients. To improve the effect of rehabilitation, robots should promote patient participation and provide compliant assistance. This paper proposes an adaptive admittance control scheme (AACS) consisting of an admittance filter, inner position controller, and electromyography (EMG)-driven musculoskeletal m...
متن کاملA real-time EMG-driven musculoskeletal model of the ankle
The real-time estimation of muscle forces could be a very valuable tool for rehabilitation. By seeing how much muscle force is being produced during rehabilitation, therapists know whether they are working within safe limits in their therapies and patients know if they are producing enough force to expect improvement. This is especially true for rehabilitation of Achilles tendon ruptures where,...
متن کاملdevelopment and implementation of an optimized control strategy for induction machine in an electric vehicle
in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...
15 صفحه اولDesigning an adaptive fuzzy control for robot manipulators using PSO
This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Frontiers in Neurorobotics
سال: 2018
ISSN: 1662-5218
DOI: 10.3389/fnbot.2018.00016