FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3091896513> ?p ?o ?g. }

• W3091896513 endingPage "103667" @default.
• W3091896513 startingPage "103667" @default.
• W3091896513 abstract "This paper addresses the challenging concept of Assist-As-Needed control of exoskeleton robots. The proposed controller boosts the voluntary participation of the patient by providing assistance according to the ability of the wearer in performing the assigned task. A novel strength index is presented that combines interaction force and position-tracking error into a single quantity to estimate the physical strength of the wearer during the therapy. The estimated strength is used to adjust the boundaries of a virtual tunnel around the desired trajectory, defined to assume a degree of freedom for the wearer’s motions and to compensate for asymmetric gait patterns. The required assistance is then defined by an adaptive impedance controller according to the distance of the tracking error from the tunnel boundaries. To ensure that the assistance is accurately supplied to the patient, an adaptive torque controller is integrated into the control loop. The adaptive torque controller uses a generalized fuzzy hyperbolic model to compensate for the inherent impedance of the exoskeleton. Simulation results on a hemiplegic model show that the proposed index can estimate the wearer’s strength properly and the proposed assist-as-needed controller can reduce the tracking error. The performance of the proposed method is also evaluated experimentally on a healthy subject wearing a hip exoskeleton. The results verify that the proposed method can be used in a variety of therapeutic applications where it is important to track the desired trajectory with minimum interventions." @default.
• W3091896513 created "2020-10-15" @default.
• W3091896513 creator A5001322512 @default.
• W3091896513 creator A5005706040 @default.
• W3091896513 creator A5020062229 @default.
• W3091896513 creator A5023858030 @default.
• W3091896513 date "2020-12-01" @default.
• W3091896513 modified "2023-10-16" @default.
• W3091896513 title "Assist-As-Needed control of a hip exoskeleton based on a novel strength index" @default.
• W3091896513 cites W1967361470 @default.
• W3091896513 cites W1967984375 @default.
• W3091896513 cites W1972194218 @default.
• W3091896513 cites W1983394866 @default.
• W3091896513 cites W2002919080 @default.
• W3091896513 cites W2003775018 @default.
• W3091896513 cites W2039510959 @default.
• W3091896513 cites W2072395926 @default.
• W3091896513 cites W2083113971 @default.
• W3091896513 cites W2089826029 @default.
• W3091896513 cites W2102000567 @default.
• W3091896513 cites W2106981506 @default.
• W3091896513 cites W2107367376 @default.
• W3091896513 cites W2115050146 @default.
• W3091896513 cites W2123640744 @default.
• W3091896513 cites W2132773469 @default.
• W3091896513 cites W2133322641 @default.
• W3091896513 cites W2147582248 @default.
• W3091896513 cites W2159045374 @default.
• W3091896513 cites W2163208146 @default.
• W3091896513 cites W2171323125 @default.
• W3091896513 cites W2344884128 @default.
• W3091896513 cites W2421101485 @default.
• W3091896513 cites W2574992670 @default.
• W3091896513 cites W2755620400 @default.
• W3091896513 cites W2762844589 @default.
• W3091896513 cites W2771032582 @default.
• W3091896513 cites W2781999526 @default.
• W3091896513 cites W2888027894 @default.
• W3091896513 cites W2889231931 @default.
• W3091896513 cites W2916373009 @default.
• W3091896513 cites W2999618307 @default.
• W3091896513 doi "https://doi.org/10.1016/j.robot.2020.103667" @default.
• W3091896513 hasPublicationYear "2020" @default.
• W3091896513 type Work @default.
• W3091896513 sameAs 3091896513 @default.
• W3091896513 citedByCount "24" @default.
• W3091896513 countsByYear W30918965132021 @default.
• W3091896513 countsByYear W30918965132022 @default.
• W3091896513 countsByYear W30918965132023 @default.
• W3091896513 crossrefType "journal-article" @default.
• W3091896513 hasAuthorship W3091896513A5001322512 @default.
• W3091896513 hasAuthorship W3091896513A5005706040 @default.
• W3091896513 hasAuthorship W3091896513A5020062229 @default.
• W3091896513 hasAuthorship W3091896513A5023858030 @default.
• W3091896513 hasConcept C121332964 @default.
• W3091896513 hasConcept C1276947 @default.
• W3091896513 hasConcept C13662910 @default.
• W3091896513 hasConcept C144171764 @default.
• W3091896513 hasConcept C146549078 @default.
• W3091896513 hasConcept C154945302 @default.
• W3091896513 hasConcept C183356978 @default.
• W3091896513 hasConcept C203479927 @default.
• W3091896513 hasConcept C2775924081 @default.
• W3091896513 hasConcept C2777984285 @default.
• W3091896513 hasConcept C41008148 @default.
• W3091896513 hasConcept C44154836 @default.
• W3091896513 hasConcept C47446073 @default.
• W3091896513 hasConcept C6557445 @default.
• W3091896513 hasConcept C86803240 @default.
• W3091896513 hasConcept C90509273 @default.
• W3091896513 hasConcept C97355855 @default.
• W3091896513 hasConceptScore W3091896513C121332964 @default.
• W3091896513 hasConceptScore W3091896513C1276947 @default.
• W3091896513 hasConceptScore W3091896513C13662910 @default.
• W3091896513 hasConceptScore W3091896513C144171764 @default.
• W3091896513 hasConceptScore W3091896513C146549078 @default.
• W3091896513 hasConceptScore W3091896513C154945302 @default.
• W3091896513 hasConceptScore W3091896513C183356978 @default.
• W3091896513 hasConceptScore W3091896513C203479927 @default.
• W3091896513 hasConceptScore W3091896513C2775924081 @default.
• W3091896513 hasConceptScore W3091896513C2777984285 @default.
• W3091896513 hasConceptScore W3091896513C41008148 @default.
• W3091896513 hasConceptScore W3091896513C44154836 @default.
• W3091896513 hasConceptScore W3091896513C47446073 @default.
• W3091896513 hasConceptScore W3091896513C6557445 @default.
• W3091896513 hasConceptScore W3091896513C86803240 @default.
• W3091896513 hasConceptScore W3091896513C90509273 @default.
• W3091896513 hasConceptScore W3091896513C97355855 @default.
• W3091896513 hasFunder F4320321722 @default.
• W3091896513 hasFunder F4320322242 @default.
• W3091896513 hasFunder F4320322855 @default.
• W3091896513 hasFunder F4320327486 @default.
• W3091896513 hasLocation W30918965131 @default.
• W3091896513 hasOpenAccess W3091896513 @default.
• W3091896513 hasPrimaryLocation W30918965131 @default.
• W3091896513 hasRelatedWork W1661565128 @default.
• W3091896513 hasRelatedWork W1897196146 @default.
• W3091896513 hasRelatedWork W2002316083 @default.

• next