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In this work we present the problem of tuning gains for type P-D controller with gravity compensation on a robot of three degrees of freedom. A function for the proportional and derivative gains modifies the amplitude to be adjusted depending on the value of the variables on which it depends. We present the demonstration of stability for the controller. Experimental results of the proposed controller...
A simulation for torque estimation during a sit-to-stand movement was developed on the aim of actuator selection on the development of an exoskeleton for the lower limb rehabilitation of hemiplegic patients. The results by simulation on a virtual environment are presented. A comparison between simulation results and experiments with real subjects performed by 4 authors are presented. Differences between...
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