Development and Implementation of a Wearable Robot Interaction Force Control Method Based on Switch Between the Swing and Stance Phases using Hybrid Systems Theory, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor)
Abstract
Exoskeleton robot is so useful because of the interaction with them and human and are used in rehabilitation and augmentation applications. These robots can be either passively or actively actuated. Human and robot interaction is an important issue involved with these robots. In this thesis, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during switch between swing and stance phasees of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be...
Cataloging briefDevelopment and Implementation of a Wearable Robot Interaction Force Control Method Based on Switch Between the Swing and Stance Phases using Hybrid Systems Theory, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor)
Abstract
Exoskeleton robot is so useful because of the interaction with them and human and are used in rehabilitation and augmentation applications. These robots can be either passively or actively actuated. Human and robot interaction is an important issue involved with these robots. In this thesis, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during switch between swing and stance phasees of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be...
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