Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation

Patients suffering from motor disorders or weakness resulting from either serious spinal cord injury or stroke often require rehabilitation therapy to regain their mobility. In the lower limbs, exoskeletons have two motors aligned with the patients’ hip and knee to assist in rehabilitation exercises...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Auwalu Muhammad Abdullahi, Ronnapee Chaichaowarat
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2023-07-01
Schriftenreihe:	Journal of Sensor and Actuator Networks
Schlagworte:	rehabilitation robot human torque estimation extended state observer integral sliding mode control gait cycle tracking
Online-Zugang:	https://www.mdpi.com/2224-2708/12/4/53
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