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In this paper, we present adaptive fuzzy tracking an exoskeletons that operates in a constrained region of the task space. The exoskeleton enables a human forearm to track any continuous desired trajectory within the constrained range, in the presence of parametric/functional uncertainties, unmodelled dynamics including actuator dynamics, and/or disturbances from the environment. Barrier Composite...
The paper presents iterative learning control of an exoskeleton for human upper limbs to provide forearm movement assistance, which enables a human forearm to track any continuous desired trajectory (or constant setpoint), in the presence of parametric/functional uncertainties, unmodelled dynamics including actuator dynamics, and/or disturbances from the environment. Given desired trajectories of...
This paper investigates two surface electromyogram (sEMG)-based control strategies developed for a power-assist exoskeleton arm. Different from most of the existing position control approaches, this paper develops force control methods to make the exoskeleton robot behave like humans in order to provide better assistance. The exoskeleton robot is directly attached to a user’s body and activated by...
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