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- W4324119111 abstract "This paper proposes an upper limb dexterous power-assist exoskeleton robot from the aspects of mechanical structure and control method. The five-degree-of-freedom upper limb exoskeleton is designed in line with the movement of the human-upper-limbs joints. It is also designed to avoid singularities, for the security of the users of the exoskeleton. A detachable clamping tool is designed at the front end of the exoskeleton to deal with a variety of different working conditions. Finally, a control method: model-free control based on feedback filtering with time-delay estimation (TDE-MFFFC) is designed. The control method can reduce the error of the desired signal and the joint output. Meanwhile, the chatter of the terminal joint can be eliminated successfully." @default.
- W4324119111 created "2023-03-15" @default.
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- W4324119111 date "2022-11-25" @default.
- W4324119111 modified "2023-09-27" @default.
- W4324119111 title "Design of mechanical structure and control method of upper limb dexterous power-assist exoskeleton" @default.
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- W4324119111 doi "https://doi.org/10.1109/cac57257.2022.10055991" @default.
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