| Issue |
ITM Web of Conferences
Volume 6, 2016
6th Seminar on Industrial Control Systems: Analysis, Modeling and Computation
|
|
|---|---|---|
| Article Number | 01001 | |
| Number of page(s) | 5 | |
| Section | Control system | |
| DOI | https://doi.org/10.1051/itmconf/20160601001 | |
| Published online | 25 March 2016 | |
Algorithm for motion control of an exoskeleton during verticalization
Southwest State University, Department of mechanics, mechatronics and robotics, 305040 Kursk, Russia
a Corresponding author: teormeh@inbox.ru
This paper considers lower limb exoskeleton that performs sit-to-stand motion. The work is focused on the control system design. An application of a null space projection methods for solving inverse kinematics problem is discussed. An adaptive multi-input multi-output regulator for the system is presented with the motivation for that choice. Results of the simulation for different versions of the regulator are shown.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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