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• W4311857632 startingPage "369" @default.
• W4311857632 abstract "In lower-limb rehabilitation systems, exoskeleton robots are one of the most important components. These robots help patients to execute repetitive exercises under the guidance of physiotherapists. Recently, pneumatic artificial muscles (PAM), a kind of actuator that acts similarly to human muscles, have been chosen to power the exoskeleton robot for better human–machine interaction. In order to enhance the performance of a PAM-based exoskeleton robot, this article implements an active disturbance rejection control (ADRC) strategy with a nonlinear extended state observer (NLESO). Moreover, the stability of the closed-loop system is proved by Lyapunov’s theory. Finally, the experimental results show that with the proposed control strategy, the rehabilitation robot can effectively track the desired trajectories even when under external disturbance." @default.
• W4311857632 created "2023-01-01" @default.
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• W4311857632 date "2022-12-08" @default.
• W4311857632 modified "2023-10-05" @default.
• W4311857632 title "Nonlinear Extended Observer-Based ADRC for a Lower-Limb PAM-Based Exoskeleton" @default.
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• W4311857632 doi "https://doi.org/10.3390/act11120369" @default.
• W4311857632 hasPublicationYear "2022" @default.
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