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- W4200231824 abstract "Control of lower-limb wearable robots has focused on high-precision. As motion references for assistance are optimally designed to the users, exact realization of the intended ones is directly related to the effectiveness of assistance. Precise walking assistance, however, is a challenging task since the system is involved with time-varying uncertainties from humans. Since the disturbance observer (DOB) has shown exceptional performance in robustness, in this paper, an algorithm named gait assistive control toward practical preciseness (GACPP) is proposed. The GACPP attacks severe limitations in applying the DOB to waling assistance. As the dynamics of exoskeletal joints varies significantly during walking as the load side alters from a free leg to the body. a hybrid identification loop is adopted. The joints are modeled differently along the gait phases, and they form a new control framework that online reshape its characteristics. In consideration of the digitization of controllers, the hybrid models are also allowance-filtered and nominalized. In this paper, the GACPP is verified by experiments with the powered exoskeleton. WalkON Suit." @default.
- W4200231824 created "2021-12-31" @default.
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- W4200231824 date "2021-10-12" @default.
- W4200231824 modified "2023-09-27" @default.
- W4200231824 title "High-Precision Motion Control of a Lower-Limb Wearable Robot for People with Walking Disability by Hybrid Filtered Disturbance Observer" @default.
- W4200231824 doi "https://doi.org/10.23919/iccas52745.2021.9650003" @default.
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