Robust torque control based on H∞ criterion of an active knee orthosis
WM dos Santos, AAG Siqueira - 5th IEEE RAS/EMBS …, 2014 - ieeexplore.ieee.org
The authors present in this paper a robust torque control of an active orthosis designed to
assist the knee joint flexion/extension during physical therapy. The orthosis is driven by a
rotary Series Elastic Actuator presented in authors' previous paper. The adopted control
strategy is based on H∞ criterion in order to ensure good system performance even when it
is subjected to parametric uncertainties and external disturbances. The controller
performance is evaluated through the frequency response function analysis. Experimental …
assist the knee joint flexion/extension during physical therapy. The orthosis is driven by a
rotary Series Elastic Actuator presented in authors' previous paper. The adopted control
strategy is based on H∞ criterion in order to ensure good system performance even when it
is subjected to parametric uncertainties and external disturbances. The controller
performance is evaluated through the frequency response function analysis. Experimental …
[引用][C] Robust torque control based on H∞ criterion of an active knee orthosis
WM Santos, AAG Siqueira - Proceedings, 2014 - repositorio.usp.br
ReP USP - Detalhe do registro: Robust torque control based on H∞ criterion of an active
knee orthosis …
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