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Learning by demonstration methods have gained considerable interest in human-coupled robot control. It aims at modeling the goal motion trajectories through human demonstration. However, in lower exoskeleton control, the physical human-robot interaction is changing from pilot to pilot or even for one pilot in different walking patterns. This characteristic requires that the exoskeletons should have...
Sensitivity Amplification Control (SAC) algorithm was first proposed in the augmentation applications of Berkeley Lower Extremity Exoskeleton (BLEEX). The SAC algorithm is widely used in human augmentation applications since it just need the information from the exoskeleton robot, so that the complexity of exoskeleton system can be reduced greatly. However, the SAC algorithm has two main drawbacks:...
Impedance control has been widely developed in the robotic exoskeleton field for human performance assistance and enhancement. However, the determination of desired impedance parameters that dominates the characteristics of interaction force and motion control is not straightforward since these parameters depend not only on the physical properties of the wearer but also on the speed region during...
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