Comparing assistive admittance control algorithms for a trunk supporting exoskeleton

P. G. van Lenthe, S. Verros, E. E. G. Hekman, R. Carloni, H. F. J. M. Koopman

Research output: Contribution to conferencePaperAcademic

1 Citation (Scopus)

Abstract

Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance
Original languageEnglish
Pages2828-2834
Number of pages7
DOIs
Publication statusPublished - 21-May-2018
Event2018 IEEE International Conference on Robotics and Automation (ICRA) - Brisbane, Australia
Duration: 21-May-201825-May-2018

Conference

Conference2018 IEEE International Conference on Robotics and Automation (ICRA)
CountryAustralia
CityBrisbane
Period21/05/201825/05/2018

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