Optimal Impedance Voltage-Controller for Electrically Driven Robots

Mohsen Jalaeian-F; Mohammad Mehdi Fateh; Morteza Rahimiyan

Volume 3, Issue 4 , September 2020, , Pages 483-490

  This paper presents a novel optimal impedance voltage-controller for Electrically Driven Lower Limb Rehabilitation Robots (EDLR). To overcome the dynamical complexities, and handle the uncertainties, the proposed method employs an expected forward model of the actuator. The difference between this model’s ...  Read More