Name
Abstract | ||
|---|---|---|
This paper considers RISE control for two-degree-of-freedom (2DOF) human lower limb with antagonistic bi-articular muscles. The antagonistic bi-articular muscles straddle the waist joint and the knee joint in the lower limb. Because the nonlinear model of the lower limb of the human body is uncertain, a robust control method is developed yield semiglobal asymptotic tracking. Simulation results indicate that the torques in joint 2 of the 2DOF lower limb is lower than the previous method, because of antagonistic bi-articular muscles. It is verified that the 2DOF lower limb can move to the desired position in the presence of unmodeled bounded disturbances. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/CCA.2013.6662752 | Control Applications |
Keywords | Field | DocType |
biomechanics,manipulators,matrix algebra,medical robotics,neuromuscular stimulation,robust control,2DOF human lower limb,2DOF robot manipulators,RISE control,antagonistic biarticular muscles,knee joint,nonlinear model,rehabilitation robotics,robust control method,two-degree-of-freedom,unmodeled bounded disturbances,waist joint,yield semiglobal asymptotic tracking | Neuromuscular stimulation,Matrix algebra,Lower limb,Medical robotics,Computer science,Control theory,Control engineering,Knee Joint,Biomechanics,Robust control,Nonlinear model | Conference |
ISSN | Citations | PageRank |
1085-1992 | 1 | 0.36 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yasunori Kawai | 1 | 3 | 3.53 |
| Hiroyuki Kawai | 2 | 27 | 9.11 |
| Masayuki Fujita | 3 | 930 | 103.37 |