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Erschienen in:
Behavior and Path Planning for the Coalition of Cognitive Robots in Smart Relocation Tasks Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

Study on a Two-Staged Control of a Lower-Limb Exoskeleton Performing Standing-Up Motion from a Chair

verfasst von : Sergey Jatsun, Sergei Savin, Andrey Yatsun, Igor Gaponov

Erschienen in: Robot Intelligence Technology and Applications 4

Verlag: Springer International Publishing

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Abstract

The paper is concerned with control over a lower-limb exoskeleton device when it performs a sit-to-stand motion from a chair. A mathematical model describing full dynamics of the device is derived, and the strategies to facilitate the desired motion are outlined. A control system based on a modified Jacobian transpose is proposed, and its performance is evaluated in a series of numerical experiments. The simulations proved that the proposed control method can be successfully used to provide stable sit-to-stand motion from a chair.

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Vorheriges Kapitel Control Strategy Design for Throw-in Challenge in a Humanoid Robot Soccer Game
Nächstes Kapitel Adaptive Control for Directional Drilling Systems with Delay and Parameter Uncertainty
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Metadaten
Titel
Study on a Two-Staged Control of a Lower-Limb Exoskeleton Performing Standing-Up Motion from a Chair
verfasst von
Sergey Jatsun
Sergei Savin
Andrey Yatsun
Igor Gaponov
Copyright-Jahr
2017
Buch
Robot Intelligence Technology and Applications 4

Print ISBN: 978-3-319-31291-0

Electronic ISBN: 978-3-319-31293-4

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-31293-4_10

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