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• W1493140143 abstract "In this study, a new nonlinear trajectory tracking method with velocity constraints performance is proposed for an omnidirectional rehabilitative training walker. The aim is to guarantee the rehabilitee can complete rehabilitation training under the safety velocity. According to Lyapunov theory, the safety velocity controller can be designed to maintain stability in terms of solutions of linear matrix inequalities. The concept of safety velocity is given and the sufficient condition for the existence of such a controller with safety velocity constraints performance is derived. As an application, simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe training velocity." @default.
• W1493140143 created "2016-06-24" @default.
• W1493140143 creator A5060973443 @default.
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• W1493140143 date "2015-08-01" @default.
• W1493140143 modified "2023-09-26" @default.
• W1493140143 title "Tracking control for an omnidirectional rehabilitative training walker with safety velocity performance" @default.
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• W1493140143 doi "https://doi.org/10.1109/icma.2015.7237707" @default.
• W1493140143 hasPublicationYear "2015" @default.
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