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The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation...
In this paper, a new open-loop model for a Magneto-Rheological (MR) based actuator is presented. The model consists of two parts relating the output torque of the actuator to its internal magnetic field, and the internal magnetic field to the applied current. Each part possesses its own hysteretic behavior. The first part uses an open-loop Bouc-Wen model to relate the output torque to internal magnetic...
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