.png){kind=icon}
返回
Tracking Control for a Lower Extremity Exoskeleton Based on Adaptive Dynamic Programing
.png){kind=icon}
OA
AI
DOI：10.3390/biomimetics8040353.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The utilization of lower extremity exoskeletons has witnessed a growing presence across diverse domains such as the military, medical treatment, and rehabilitation. This paper introduces a novel design of a lower extremity exoskeleton specifically tailored for individuals engaged in heavy object carrying tasks. The exoskeleton incorporates an impressive 12 degrees of freedom (DOF), with four of them being effectively controlled through hydraulic cylinders. To achieve optimal control of this intricate lower extremity exoskeleton system, the authors propose an adaptive dynamic programming (ADP) algorithm. Several crucial components are established to implement this control scheme. These include the formulation of the state equation for the lower extremity exoskeleton system, which is well-suited for the ADP algorithm. Additionally, a corresponding performance index function based on the tracking error is devised, along with the game algebraic Riccati equation. By employing the value iteration ADP scheme, the lower extremity exoskeleton demonstrates highly effective tracking control. This research not only highlights the potential of the proposed control approach but also showcases its ability to enhance the overall performance and functionality of lower extremity exoskeletons, particularly in scenarios involving heavy object carrying. Overall, this study contributes to the advancement of lower extremity exoskeleton technology and offers valuable insights into the application of ADP algorithms for achieving precise and efficient control in demanding tasks.
Keyword:
lower extremity exoskeleton
tracking control
adaptive dynamic programming
value iteration
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
B
IF:
3.9
论文数:
3.3K
被引数:
5.1K
机构
引用论文
Spiking Adaptive Dynamic Programming Based on Poisson Process for Discrete-Time Nonlinear Systems
PREAI
分享收藏Analysis of contact pressure in a 3D model of dual-mobility hip joint prosthesis under a gait cycle.png)
SCIENTIFIC REPORTSOAAI
SCIENTIFIC REPORTSIF3.9
OAAI分享收藏Discrete-Time Local Value Iteration Adaptive Dynamic Programming: Convergence Analysis离散局部值迭代自适应动态规划: 收敛性分析
PREAI
分享收藏
查看更多内容