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- W2559422403 abstract "In this paper a full body assistive exoskeleton is considered. A mathematical model for the case of the frontal plane motion is given. The paper focuses on the question of push recovery, considering two different cases: when the exoskeleton is pushed as a result of an interaction with another moving object and the case when the exoskeleton stands on a platform that rapidly changes its speed. A push recovery algorithm is proposed that allows the exoskeleton to regain vertical balance by taking one step. The algorithm was tested via numerical simulation; the results are shown and analysed in the paper. The results of the simulation demonstrated the similarity of the exoskeleton motion to that of a human." @default.
- W2559422403 created "2016-12-08" @default.
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- W2559422403 date "2016-11-29" @default.
- W2559422403 modified "2023-09-27" @default.
- W2559422403 title "Motion Control Algorithm for Exoskeleton Push Recovery in the Frontal Plane" @default.
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- W2559422403 doi "https://doi.org/10.1007/978-3-319-49058-8_51" @default.
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