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This paper presents Barrier Lyapunov Based Control of a dual-arm exoskeleton system by using the relative Jacobian technique. Two upper exoskeletons operates in a constrained region of the operational space, whose end-effector motions are defined by the relative motion between the two end effectors. Barrier composite energy function (BCEF) scheme with a novel Barrier Lyapunov Function is developed...
The drag coefficient and Magnus coefficient are different along with the geometric parameters of target object when calculating and simulating the trajectory. Generally, the coefficients are measured in wind-tunnel via repeated experiments, and only for object which have the same shape and geometric parameters. This paper proposes a numerical iterative algorithm based on hierarchical optimization...
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...
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