Robust nonsingular fast terminal sliding-mode control for Sit-to-Stand task using a mobile lower limb exoskeleton
نویسندگان
چکیده
منابع مشابه
Carrying Lower Extreme Exoskeleton Rapid Terminal Sliding-Mode Robust Control
For the carrying lower extreme exoskeleton system is non-linear and have variable parameters, which is usually subject to external dusturbances. The virtual torque control method is a well-established carrying system control technique, which needs no sensors between the pilot and the human-machine interface, instead, the controller estimates, based on measurements from the exoskeleton suits onl...
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متن کاملRobust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton
A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control schem...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملSliding and Lower Limb Mechanics during Sit-Stand-Sit Transitions with a Standing Wheelchair
PURPOSE This study aimed to investigate the shear displacement between the body and backrest/seat, range of motion (ROM), and force acting on the lower limb joints during sit-stand-sit transitions by operating an electric-powered standing wheelchair. METHODS AND MATERIALS The amounts of sliding along the backrest and the seat plane, ROM of lower limb joints, and force acting on the knee/foot ...
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ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2020
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2020.104496