Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

This article presents a human–robot cooperation controller towards the lower extremity exoskeleton which aims to improve the tracking performance of the exoskeleton and reduce the human–robot interaction force. Radial basis function neural network is introduced to model the human–machine interaction...

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Bibliographic Details
Main Authors: Shiqiang Zhu, Xinglai Jin, Bin Yao, Qingcheng Chen, Xiang Pei, Zhongqiang Pan
Format: Article
Language:English
Published: SAGE Publishing 2016-10-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881416662788

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