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- W2110246046 abstract "Robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control as a ldquorobot-in-chargerdquo control strategy is evaluated both in simulation and in experiments on a test setup. Compared to PID control, test results indicate good tracking performance and in particular safe system behavior." @default.
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- W2110246046 date "2008-10-01" @default.
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- W2110246046 title "Design and control concepts of an exoskeleton for gait rehabilitation" @default.
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- W2110246046 doi "https://doi.org/10.1109/biorob.2008.4762874" @default.
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