Uploaded May 2018 | Updated September 2026, 1 week ago
ICRA 2018 Spotlight Video
Interactive Session Wed AM Pod C.7
Authors: van Lenthe, Peter Gilius; Verros, Stergios; Hekman, Edsko E.G.; Carloni, Raffaella; Koopman, Bart
Title: Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton
Abstract:
Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase inde-pendence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed forward forceand a law with variable parameters. A Fitts-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feed forward and variable admittance controllers with respect to the standard admittance.
ICRA 2018 Spotlight Video
Interactive Session Wed AM Pod C.7
Authors: van Lenthe, Peter Gilius; Verros, Stergios; Hekman, Edsko E.G.; Carloni, Raffaella; Koopman, Bart
Title: Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton
Abstract:
Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase inde-pendence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed forward forceand a law with variable parameters. A Fitts-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feed forward and variable admittance controllers with respect to the standard admittance.
