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- W2942728062 abstract "This paper presents a sensorless power assistance (SPA) control for an upper limb exoskeleton robot. The proposed SPA control is realized by a disturbance observer and an admittance model. The disturbance observer is developed to estimate the torque that the wearer applies to the robot. The admittance model is used to calculate the target angular velocity of the exoskeleton robot. The power assistance experiments of the elbow joint are implemented, and the experimental results show that about 30[%] power assistance using our proposed SPA control is successfully realized." @default.
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- W2942728062 date "2018-07-13" @default.
- W2942728062 modified "2023-09-28" @default.
- W2942728062 title "Sensorless Power Assistance Control for an Upper Limb Exoskeleton Robot" @default.
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