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

  • Antonio Concha
  • Francisco Emmanuel González-Sánchez
  • Efrain Ramírez-Velasco
  • Martín Sánchez
  • Suresh Kumar Gadi

Abstract

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.

Published
2018-03-30
Section
Articles