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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...
A new approach for adaptive torque distribution of 4-Powered Caster Vehicle (4-PCV) is presented on complex terrain without any additional sensor. The objective is that torques applied to wheels are dynamically redistributed based on the real time conditions of the whole wheel-ground interactions in order to track the desired trajectory. A novel approach based on the redundant actuated wheels is proposed...
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