Active torque-based gait adjustment multi-level control strategy for lower limb patient-exoskeleton coupling system in rehabilitation training

DOI10.1016/J.MATCOM.2023.08.020MaRDI QIDQ6089623OpenAlexFDO

Authors Yu Wang, Yang Tian, Yida Guo, Haoping Wang

Publication date 13 November 2023

Published in Mathematics and Computers in Simulation (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.matcom.2023.08.020

zbMATH Keywords

nonlinear disturbance observerprescribed performance controlmodel free controladaptive central pattern generatorlower limb rehabilitation exoskeleton

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

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Cites work

• Adaptive neural network control for marine surface vehicles platoon with input saturation and output constraints
• Bounded-input prescribed performance control of uncertain Euler-Lagrange systems
• Disturbance observer-based adaptive neural network tracking control for robots
• Human-exoskeleton coupling dynamics in the swing of lower limb
• Model-free control
• Nonlinear disturbance observer based flexible-boundary prescribed performance control for a lower limb exoskeleton
• Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
• Robust adaptive prescribed performance control for a class of nonlinear pure‐feedback systems

Cited in

(2)

• Hierarchical critic learning optimal control for lower limb exoskeleton robots with prescribed constraints
• Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints

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