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farghadani--sahand
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Design a Model Predictive Control System for Empowerment and Rehabilitation of a Lower Limb Exoskeleton
, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor)
Abstract
With the development of technology in the field of control, biomechanics and robotics, wearable robots have found many applications in the field of rehabilitation and empowerment. In the empowerment phase, due to the interaction of these robots with humans, it is necessary to manage the interaction forces between the robot and humans with the help of appropriate control methods. One of the applications of these robots is when a person wants to carry a heavy load attached to the structure of the robot and the robot should be able to transfer the force caused by this load to the ground. At this time, humans should not be exposed to this load and the relationship between the robot and humans...