Article

Adaptive Passive Control for a Lower Limb Rehabilitation Robot Based on Controller Gain Tuning

2025-10-03

Abstract excerpt

<title>Abstract</title> <p>Background: The inherent compliance of cable-driven lower limb rehabilitation robots, though advantageous for safe human-robot interaction, can lead to unsatisfactory trajectory tracking performance when control strategies are inadequately designed, hindering their effectiveness in clinical rehabilitation. <h4>Methods:</h4> This study presents an adaptive passive control strategy based...

Topics

Open a Topic to create a Post that cites this publication.

Identifiers and source

Literature Corpus work: cb596b97-5531-58e2-8bfa-410ec0ba7fe1
DOI: 10.21203/rs.3.rs-7572353/v1

Open publication

Related research

Semantic proximity does not establish scientific evidence.

Click a neighbor to travelStep 1 · 12 closest

Adaptive Passive Control for a Lower Limb Rehabilitation Robot Based on Controller Gain TuningDOI 10.21203/rs.3.rs-7572353/v1Read

Impedance Iterative Learning Sliding Mode Control for Robot-Assisted Bathing with Non-repetitive TrajectorySemantic proximity Read

Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and Ankle RehabilitationSemantic proximity Read

Admittance-based assistive control of a hip exoskeleton in a novel closed-loop MATLAB-Moco co-simulation frameworkSemantic proximity Read

EMG Model Calibration and Trajectory Tracking by Remote Rehabilitation ExoskeletonSemantic proximity Read

Haptic interaction with a human partner for ankle training in chronic stroke: a pilot studySemantic proximity Read

Predictive Control of Musculotendon Loads Across Fast and Slow-twitch Muscles in a Simulated System with Parallel ActuationSemantic proximity Read

Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual EnergySemantic proximity Read

Research on The Design of Quasi-Passive Variable Stiffness Assisted Exoskeleton with AnkleSemantic proximity Read

Design and Validation of an Adaptive Lower-Limb Exoskeleton for Geriatric Hemiplegic Gait Rehabilitation: Mechanism, Modeling, and Efficacy StudySemantic proximity Read

Somatosensory-Enhanced Decoupled Motion Control Strategy for a Novel Redundant Actuation Rehabilitation Robot Featuring Dual Parallel WashoutSemantic proximity Read

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular ActuationSemantic proximity Read

Optimization of biped walking limit cycles via nonlinear model predictive control and controller-dependent bifurcation of optimal trajectoriesSemantic proximity Read