Title : ( An Assistive Strategy for Compliantly Actuated Exoskeletons Using Non-Linear Model Predictive Control Method )
Authors: Seyed Mohammad Tahamipour Zarandi , Seyed Kamal Hosseini Sani , Alireza Akbarzadeh Tootoonchi , Iman Kardan ,
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Abstract
Assistive exoskeletons are a category of exoskeleton robots designed to provide extra powers and energies for elderlies or healthy subjects. The control algorithms of these robots, termed as assistive strategies, should control the robot in way that a portion of the user's required torques is provided by the robot actuators. This paper uses non-linear model predictive control (NMPC) method to propose a new assistive strategy for compliantly actuated exoskeletons. The user's required torques are
Keywords
, Assistive control; Non, linear model predictive control; Series elastic actuators;
@inproceedings{paperid:1071046,
author = {Tahamipour Zarandi, Seyed Mohammad and Hosseini Sani, Seyed Kamal and Akbarzadeh Tootoonchi, Alireza and Kardan, Iman},
title = {An Assistive Strategy for Compliantly Actuated Exoskeletons Using Non-Linear Model Predictive Control Method},
booktitle = {26th Iranian Conference on Electrical Engineering (ICEE2018)},
year = {2018},
location = {مشهد, IRAN},
keywords = {Assistive control; Non-linear model predictive control; Series elastic actuators;},
}
%0 Conference Proceedings
%T An Assistive Strategy for Compliantly Actuated Exoskeletons Using Non-Linear Model Predictive Control Method
%A Tahamipour Zarandi, Seyed Mohammad
%A Hosseini Sani, Seyed Kamal
%A Akbarzadeh Tootoonchi, Alireza
%A Kardan, Iman
%J 26th Iranian Conference on Electrical Engineering (ICEE2018)
%D 2018
