Variable Integral Adaptive Backstepping Hysteresis Admittance Compliant Control of Sensorless Single Joint Exoskeletons With Unknown Parameters

Variable Integral Adaptive Backstepping Hysteresis Admittance Compliant Control of Sensorless Single Joint Exoskeletons With Unknown Parameters

This paper proposes a variable integral adaptive backstepping controller (VIABC) and a hysteresis admittance model for compliant control of single joint exoskeletons widely used in robotic rehabilitation. The proposed method is realized via iterative adaptive backstepping design with the integral of...

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Bibliographic Details
Main Authors: Ado Haruna, Auwalu Muhammad Abdullahi, Ronnapee Chaichaowarat
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Adaptive backstepping
admittance control
microcontroller
observer
rehabilitation exoskeleton
Online Access:https://ieeexplore.ieee.org/document/10767707/
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https://ieeexplore.ieee.org/document/10767707/

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