Name
Title | ||
|---|---|---|
Study on a Two-Staged Control of a Lower-Limb Exoskeleton Performing Standing-Up Motion from a Chair |
Abstract | ||
|---|---|---|
The paper is concerned with control over a lower-limb exoskeleton device when it performs a sit-to-stand motion from a chair. A mathematical model describing full dynamics of the device is derived, and the strategies to facilitate the desired motion are outlined. A control system based on a modified Jacobian transpose is proposed, and its performance is evaluated in a series of numerical experiments. The simulations proved that the proposed control method can be successfully used to provide stable sit-to-stand motion from a chair. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1007/978-3-319-31293-4_10 | ROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS 4 |
Field | DocType | Volume |
Transpose,Jacobian matrix and determinant,Lower limb,Control theory,Computer science,Exoskeleton Device,Zero moment point,Exoskeleton,Control system | Conference | 447 |
ISSN | Citations | PageRank |
2194-5357 | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sergey Jatsun | 1 | 4 | 3.20 |
| Sergei Savin | 2 | 339 | 31.76 |
| Andrey Yatsun | 3 | 0 | 0.34 |
| Igor Gaponov | 4 | 15 | 6.69 |