Comparison of Control Algorithms Using a Generalized Model for a Human with an Exoskeleton | Zendy

Antonio Concha | Zendy; Francisco Gonzalez-Sanchez | Zendy; Efrain Ramírez-Velasco | Zendy; M. García Sánchez | Zendy; Suresh Kumar Gadi | Zendy

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Comparison of Control Algorithms Using a Generalized Model for a Human with an Exoskeleton

Author(s) -

Antonio Concha,

Francisco Gonzalez-Sanchez,

Efrain Ramírez-Velasco,

M. García Sánchez,

Suresh Kumar Gadi

Publication year - 2018

Publication title -

journal of applied science and process engineering

Language(s) - English

Resource type - Journals

ISSN - 2289-7771

DOI - 10.33736/jaspe.408.2018

Subject(s) - exoskeleton , position (finance) , representation (politics) , computer science , control (management) , software , algorithm , control theory (sociology) , control engineering , artificial intelligence , simulation , engineering , finance , politics , political science , law , economics , programming language

This article presents a pictorial representation of a generalized model for a human interacting with an exoskeleton or a force-augmenting device. This model is used for comparing four different control schemes, which are: 1) Kazerooni's algorithm, 2) BLEEX’s algorithm, 3) technique inspired by fictitious gain, and 4) Force control with velocity and position feedback. The hardware and software requirements for the presented control algorithms are also discussed.

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