Design and control of an active knee orthosis driven by a rotary Series Elastic Actuator

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• 作者：Wilian M. dos Santos^a ; ^{wilianmds@sc.usp.br} ; Glauco A.P. Caurin^a ; ^b ; ^{gcaurin@sc.usp.br} ; Adriano A.G. Siqueira^a ; ^b ; ^{siqueira@sc.usp.br}
• 关键词：Rehabilitation robotics ; Active orthosis ; Series Elastic Actuator ; Robust torque control ; Impedance control
• 刊名：Control Engineering Practice
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：58
• 期：Complete
• 页码：307-318
• 全文大小：3647 K
• 卷排序：58

文摘

Design of a knee active orthosis driven by a rotary Series Elastic Actuator (SEA). Robust H-infinity torque and impedance control of the SEA. Experimental characterization of the torque and impedance controllers. Evaluation of a variable impedance control strategy for the knee active orthosis interacting with a healthy subject walking on a treadmill.