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In the past decades, many wearable powered orthoses have been developed with the aim of augmenting or assisting motion activities in daily life. Among many applications, they are particularly used to provide lower-limb moving assistance in locomotion-related rehabilitation tasks. This paper presents a wearable active knee orthosis consisting of an active knee joint, a double-tendon-sheath transmission...
The EKF filter is an effective tool for estimating the states of a system. However, accurate system models are not as readily available for industrial problems such as the maneuvering target tracking. State estimators that can tolerate such uncertainty are called robust. The H infinity filter was specifically designed for robustness. In this paper, an improved filtering method combing the H infinity...
The error model of the initial alignment of strapdown inertial navigation system (SINS) is nonlinear when the azimuth angle error is large. As the dimension of the system increases, the computation of the sigma points needed by UKF becomes burdensome, and the sigma points are no longer local sampling points. These non-local sigma points can't represent the system state correctly, and are prone to...
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