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Hydraulic exoskeleton with human–robot interaction becomes an important solution for those heavy load carrying applications. Good human motion intent inference and accurate human trajectory tracking are two challenging issues for the control of these systems, especially for hydraulically actuated exoskeleton where the nonlinear dynamics is quite complicated and various uncertainties exist. However,...
LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as the linear motor drive system studied in the paper. This paper first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model is then presented...
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