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• W2418528053 abstract "This paper deals with the control of a lower limb exoskeleton acting at the knee joint level. Classical −1 adaptive control law is proposed to ensure assistance-as-needed and resistive rehabilitation following a desired trajectory that is defined by a therapeutic doctor. This control law introduces a time lag within the desired trajectory tracking due to the presence of a filter in its structure. In order to mitigate this drawback, the classical −1 adaptive control is augmented by a nonlinear proportional control. The classical and augmented −1 adaptive control laws are tested in real-time using the Exoskeleton Intelligently COmmunicating and Sensitive to Intention (EICOSI) of LISSI-lab. Real-time experimental results highlight the utility of these control laws in assistance-as-needed and resistive rehabilitation paradigms." @default.
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• W2418528053 date "2016-05-01" @default.
• W2418528053 modified "2023-09-30" @default.
• W2418528053 title "Augmented −1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments" @default.
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• W2418528053 doi "https://doi.org/10.1109/icra.2016.7487794" @default.
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