A generalized control framework of assistive controllers and its application to lower limb exoskeletons

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Title
A generalized control framework of assistive controllers and its application to lower limb exoskeletons
Authors
Keywords
Lower limb exoskeleton, Assistive control, Hybrid control, Stability analysis, Gait phase, Impedance control, Disturbance observer, Impedance reduction control, Series elastic actuator
Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 73, Issue -, Pages 68-77
Publisher
Elsevier BV
Online
2014-10-18
DOI
10.1016/j.robot.2014.10.001

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