Optimal predictive impedance control in the presence of uncertainty for a lower limb rehabilitation robot

DOI10.1007/S11424-020-8335-5MaRDI QIDQ2220407zbMATH OpenOpenAlexFDO

Authors Mohsen Jalaeian-F., Morteza Rahimiyan, Mohammad Mehdi Fateh

Publication date 22 January 2021

Published in Journal of Systems Science and Complexity (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11424-020-8335-5

zbMATH Keywords

impedance controllower limb rehabilitation robotsmodel predictive compensatoroptimal predictive impedance controlleroptimization in presence of uncertainty

Mathematics Subject Classification ID

Convex programming (90C25) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Iterative learning impedance control for rehabilitation robots driven by series elastic actuators

Cited in

(8)

• Iterative learning impedance control for rehabilitation robots driven by series elastic actuators
• Adaptive inverse optimal control for rehabilitation robot systems using actor-critic algorithm
• Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots
• Nonfragile predictive control for an omnidirectional rehabilitative training walker with constraints on the tracking errors of position and velocity
• Assistive Optimal Control-on-Request with Application in Standing Balance Therapy and Reinforcement
• Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system
• Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models
• Impedance control based on optimal adaptive high order super twisting sliding mode for a 7-DOF lower limb exoskeleton

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