Abstract
| Original language | English |
|---|---|
| Title of host publication | 2018 IEEE International Conference on Robotics and Automation (ICRA) |
| Publisher | IEEE |
| ISBN (Electronic) | 978-1-5386-3081-5 |
| ISBN (Print) | 978-1-5386-3082-2 |
| DOIs | |
| Publication status | Published - 2018 |
| Event | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018 https://icra2018.org/ |
Conference
| Conference | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 |
|---|---|
| Abbreviated title | ICRA |
| Country | Australia |
| City | Brisbane |
| Period | 21/05/18 → 25/05/18 |
| Internet address |
Fingerprint
Keywords
- Biomechatronics
Cite this
}
Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton. / Van Lenthe, P.G.; Verros, S.; Hekman, E.E.G.; Carloni, Raffaella ; Koopman, H.F.J.M.
2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton
AU - Van Lenthe, P.G.
AU - Verros, S.
AU - Hekman, E.E.G.
AU - Carloni, Raffaella
AU - Koopman, H.F.J.M.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Biomechatronics
U2 - 10.1109/ICRA.2018.8461062
DO - 10.1109/ICRA.2018.8461062
M3 - Conference contribution
SN - 978-1-5386-3082-2
BT - 2018 IEEE International Conference on Robotics and Automation (ICRA)
PB - IEEE
ER -