Matches in SemOpenAlex for { <https://semopenalex.org/work/W4303857100> ?p ?o ?g. }
- W4303857100 endingPage "1674" @default.
- W4303857100 startingPage "1674" @default.
- W4303857100 abstract "Bowden-cable-actuated soft exoskeleton robots are known for their light weight and flexibility of power transmission during rehabilitation training or movement assistance for humans. However, friction-induced nonlinearity of the Bowden transmission cable and gearbox backlash pose great challenges forprecise tracking control of the exoskeleton robot. In this paper, we proposed the design of a learning-based repetitive controller which could compensate for the non-linearcable friction and gearbox backlash in an iterative manner. Unlike most of the previous control schemes, the presented controller does not require apriori knowledge or intensive modeling of the friction and backlash inside the exoskeleton transmission system. Instead, it uses the iterative learning control (ILC)to adaptively update the reference trajectory so that the output hysteresis caused by friction and backlashis minimized. In particular, a digital phase-lead compensator was designed and integrated with the ILC to address the issue of backlash delay and improve the stability and tracking performance. Experimental results showed an average of seven iterations for the convergence of learning and a 91.1% reduction in the RMS tracking error (~1.37 deg) compared with the conventional PD control. The proposed controller design offers promising options for the realization of lightweight, wearable exoskeletons with high tracking accuracies." @default.
- W4303857100 created "2022-10-09" @default.
- W4303857100 creator A5010518309 @default.
- W4303857100 creator A5012991682 @default.
- W4303857100 creator A5021036280 @default.
- W4303857100 creator A5022470586 @default.
- W4303857100 creator A5037821700 @default.
- W4303857100 creator A5060491871 @default.
- W4303857100 creator A5069788946 @default.
- W4303857100 creator A5087614453 @default.
- W4303857100 date "2022-10-04" @default.
- W4303857100 modified "2023-10-01" @default.
- W4303857100 title "Learning-Based Repetitive Control of a Bowden-Cable-Actuated Exoskeleton with Frictional Hysteresis" @default.
- W4303857100 cites W114979488 @default.
- W4303857100 cites W1513008436 @default.
- W4303857100 cites W1975253036 @default.
- W4303857100 cites W1975785755 @default.
- W4303857100 cites W1977929578 @default.
- W4303857100 cites W1990280410 @default.
- W4303857100 cites W1990378975 @default.
- W4303857100 cites W1994470193 @default.
- W4303857100 cites W2002161214 @default.
- W4303857100 cites W2013504885 @default.
- W4303857100 cites W2017932718 @default.
- W4303857100 cites W2025501099 @default.
- W4303857100 cites W2041242313 @default.
- W4303857100 cites W2053293179 @default.
- W4303857100 cites W2062308233 @default.
- W4303857100 cites W2075795552 @default.
- W4303857100 cites W2078871535 @default.
- W4303857100 cites W2081254081 @default.
- W4303857100 cites W2088752982 @default.
- W4303857100 cites W2101645211 @default.
- W4303857100 cites W2102046115 @default.
- W4303857100 cites W2114940850 @default.
- W4303857100 cites W2114993718 @default.
- W4303857100 cites W2118267228 @default.
- W4303857100 cites W2129428998 @default.
- W4303857100 cites W2147288676 @default.
- W4303857100 cites W2169410184 @default.
- W4303857100 cites W2325944168 @default.
- W4303857100 cites W2465949153 @default.
- W4303857100 cites W2537878323 @default.
- W4303857100 cites W2600077184 @default.
- W4303857100 cites W2766001825 @default.
- W4303857100 cites W2780239332 @default.
- W4303857100 cites W2793553994 @default.
- W4303857100 cites W2795514975 @default.
- W4303857100 cites W2807761827 @default.
- W4303857100 cites W2902305169 @default.
- W4303857100 cites W2967580548 @default.
- W4303857100 cites W2979830450 @default.
- W4303857100 cites W2980644381 @default.
- W4303857100 cites W3005874209 @default.
- W4303857100 cites W3031632633 @default.
- W4303857100 cites W3047395141 @default.
- W4303857100 cites W3164406416 @default.
- W4303857100 cites W3174451086 @default.
- W4303857100 cites W3216440402 @default.
- W4303857100 doi "https://doi.org/10.3390/mi13101674" @default.
- W4303857100 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/36296027" @default.
- W4303857100 hasPublicationYear "2022" @default.
- W4303857100 type Work @default.
- W4303857100 citedByCount "0" @default.
- W4303857100 crossrefType "journal-article" @default.
- W4303857100 hasAuthorship W4303857100A5010518309 @default.
- W4303857100 hasAuthorship W4303857100A5012991682 @default.
- W4303857100 hasAuthorship W4303857100A5021036280 @default.
- W4303857100 hasAuthorship W4303857100A5022470586 @default.
- W4303857100 hasAuthorship W4303857100A5037821700 @default.
- W4303857100 hasAuthorship W4303857100A5060491871 @default.
- W4303857100 hasAuthorship W4303857100A5069788946 @default.
- W4303857100 hasAuthorship W4303857100A5087614453 @default.
- W4303857100 hasBestOaLocation W43038571001 @default.
- W4303857100 hasConcept C105795698 @default.
- W4303857100 hasConcept C117619785 @default.
- W4303857100 hasConcept C119599485 @default.
- W4303857100 hasConcept C121332964 @default.
- W4303857100 hasConcept C127413603 @default.
- W4303857100 hasConcept C1276947 @default.
- W4303857100 hasConcept C133731056 @default.
- W4303857100 hasConcept C13662910 @default.
- W4303857100 hasConcept C146549078 @default.
- W4303857100 hasConcept C154945302 @default.
- W4303857100 hasConcept C162324750 @default.
- W4303857100 hasConcept C183356978 @default.
- W4303857100 hasConcept C203479927 @default.
- W4303857100 hasConcept C2775924081 @default.
- W4303857100 hasConcept C2776652708 @default.
- W4303857100 hasConcept C2777303404 @default.
- W4303857100 hasConcept C2780598303 @default.
- W4303857100 hasConcept C33923547 @default.
- W4303857100 hasConcept C41008148 @default.
- W4303857100 hasConcept C44154836 @default.
- W4303857100 hasConcept C45391945 @default.
- W4303857100 hasConcept C47446073 @default.
- W4303857100 hasConcept C50522688 @default.
- W4303857100 hasConcept C6557445 @default.