Development and Implementation of a Control System for Minimum Interaction Force between Human and Lower Limb Exoskeleton, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Nowadays exoskeltons are developed because of improvements carried out in mechatronic technologies, to use in applications such as human rehabilitation and power augmentation. By reason of interaction between exoskeleton robot and human, an appropriate control strategy should be considered to implement regulated interaction force between them. As an example there are situations that a person wants to carry heavy load with this robot without suffering from weight of the load, so control of robot movements is of great importance. The aim of this thesis is dedicated to develop and implement a control strategy achieving minimum ineraction force in a 2 degree of freedom lower limb exoskeleton....
Cataloging briefDevelopment and Implementation of a Control System for Minimum Interaction Force between Human and Lower Limb Exoskeleton, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Nowadays exoskeltons are developed because of improvements carried out in mechatronic technologies, to use in applications such as human rehabilitation and power augmentation. By reason of interaction between exoskeleton robot and human, an appropriate control strategy should be considered to implement regulated interaction force between them. As an example there are situations that a person wants to carry heavy load with this robot without suffering from weight of the load, so control of robot movements is of great importance. The aim of this thesis is dedicated to develop and implement a control strategy achieving minimum ineraction force in a 2 degree of freedom lower limb exoskeleton....
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