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Assessments on the improved modelling for pneumatic artificial muscle actuators
(IEEE, 2015)
In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ...
On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton
(IEEE, 2015)
Exoskeletons are successful at supporting human motion only when the necessary amount of power is provided at the right time. Exoskeleton control based on EMG signals can be utilized to command the required amount of support ...
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
(IEEE, 2019-12)
This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ...
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
(IEEE, 2016-02)
This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
(IEEE, 2015)
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ...
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
(IEEE, 2015)
This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
Human-in-the-loop control and task learning for pneumatically actuated muscle based robots
(Frontiers Media, 2018-11-06)
Pneumatically actuated muscles (PAMs) provide a low cost, lightweight, and high power-To-weight ratio solution for many robotic applications. In addition, the antagonist pair configuration for robotic arms make it open to ...
Shoulder glenohumeral elevation estimation based on upper arm orientation
(IEEE, 2018-10-26)
In this paper, the shoulder glenohumeral displacement during the movement of the upper arm is studied. Four modeling approaches were examined and compared to estimate the humeral head elevation (vertical displacement) and ...
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